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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -372,7 +321,7 @@ make<span class="w"> </span>html
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
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</div>
|
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@@ -15,4 +15,5 @@ OrbbecSDK V2 ROS2 Wrapper documentation
|
||||
source/3_quickstarts/quickstarts.rst
|
||||
source/4_application_guide/application_guide.rst
|
||||
source/5_advanced_guide/advanced_guide.rst
|
||||
source/6_FAQ/FAQ.rst
|
||||
source/6_developer_guide/developer_guide.rst
|
||||
source/7_FAQ/FAQ.rst
|
||||
|
||||
@@ -2,17 +2,144 @@
|
||||
|
||||
OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.
|
||||
|
||||
With a major update in October 2024, we release the [OrbbecSDK ROS2 Wrapper v2](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main) connected to the open source [OrbbecSDK v2](https://github.com/orbbec/OrbbecSDK_v2/releases) with enhanced flexibility and extensibility. This update ensures compatibility with all Orbbec USB products adhering to UVC standard. However, it no longer supports Orbbec's traditional OpenNI protocol devices. We strongly encourage you to use the v2-main branch if your device is supported.
|
||||
By default, we recommend using the **v2-main** branch. For older OpenNI devices not supported by v2-main, please use the **main** branch. Device models that are only supported by the main branch are listed in the table below.
|
||||
|
||||
If you are a user in China, it is recommended to use [gitee Repo](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2).
|
||||
|
||||
Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
|
||||
|
||||
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
|
||||
<thead>
|
||||
<tr style="background-color: #1f4e78; color: white; text-align: center;">
|
||||
<th>Product Series</th>
|
||||
<th>Product</th>
|
||||
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">Branch main</a></th>
|
||||
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">Branch v2-main</a></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
|
||||
<td>Gemini 435Le</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
|
||||
<td>Gemini 335</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 336</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 336L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335Lg</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335Le</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 330</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 330L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Gemini 2</td>
|
||||
<td>Gemini 2</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 2 L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 2 XL</td>
|
||||
<td>Recommended for new designs</td>
|
||||
<td>To be supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
|
||||
<td>Femto Bolt</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega I</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>To be supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
|
||||
<td>Astra 2</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Astra+</td>
|
||||
<td>Limited maintenance</td>
|
||||
<td>Not supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Astra Pro Plus</td>
|
||||
<td>Limited maintenance</td>
|
||||
<td>Not supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center; font-weight: bold;">Astra Mini</td>
|
||||
<td>Astra Mini Pro</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Full maintenance</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
|
||||
**Note**: If you do not find your device, please contact our FAE or sales representative for help.
|
||||
|
||||
**Definition**:
|
||||
|
||||
1. Recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;
|
||||
2. Full maintenance: we will provide bug fix support;
|
||||
3. Limited maintenance: we will provide critical bug fix support;
|
||||
4. Not supported: we will not support specific device in this version;
|
||||
5. To be supported: we will add support in the near future.
|
||||
|
||||
## Support Hardware Products
|
||||
|
||||
The following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the [main](https://github.com/orbbec/OrbbecSDK_ROS2) branch.
|
||||
|
||||
For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
|
||||
|
||||
| Product List | Minimal Firmware Version | **Launch File** |
|
||||
| Product List | Minimal Firmware Version | **Launch File** |
|
||||
| :------------- | :----------------------- | :-------------------------- |
|
||||
| Gemini 435Le | 1.2.04 | gemini435_le.launch.py |
|
||||
| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
|
||||
|
||||
@@ -33,17 +33,23 @@ git checkout v2-main
|
||||
Install dependencies:
|
||||
|
||||
```bash
|
||||
sudo apt install libgflags-dev nlohmann-json3-dev libgoogle-glog-dev libgoogle-glog0v5 libssl-dev \
|
||||
sudo apt install libgflags-dev nlohmann-json3-dev \
|
||||
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
|
||||
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
|
||||
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
|
||||
ros-$ROS_DISTRO-backward-ros libdw-dev
|
||||
```
|
||||
|
||||
Optional dependencies:
|
||||
|
||||
```bash
|
||||
# 435Le writeCustomerDate feature:
|
||||
sudo apt install libssl-dev
|
||||
```
|
||||
|
||||
Build:
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws
|
||||
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
|
||||
```
|
||||
|
||||
|
||||
@@ -9,4 +9,8 @@ This chapter introduces application development with the SDK, including launch p
|
||||
launch_parameters.md
|
||||
services.md
|
||||
topics.md
|
||||
|
||||
coordinate_systems.md
|
||||
camera_sensor_structure.md
|
||||
tf_transformations.md
|
||||
compressed_image.md
|
||||
point_cloud.md
|
||||
@@ -0,0 +1,5 @@
|
||||
### Camera sensor structure
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
### Compressed Image
|
||||
|
||||
You can use `image_transport` to compress the image using `jpeg`. Below is an example of how to use it:
|
||||
|
||||
To access the compressed color image, you can use the following command:
|
||||
|
||||
```bash
|
||||
ros2 topic echo /camera/color/image_raw/compressed --no-arr
|
||||
```
|
||||
|
||||
This command will allow you to receive the compressed color image from the specified topic.
|
||||
@@ -0,0 +1,13 @@
|
||||
### ROS2(Robot) vs Optical(Camera) Coordination Systems
|
||||
|
||||
* Point Of View:
|
||||
* Imagine we are standing behind of the camera, and looking forward.
|
||||
* Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..
|
||||
|
||||
|
||||
|
||||
* ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)
|
||||
* Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
|
||||
* All data published in our wrapper topics is optical data taken directly from our camera sensors.
|
||||
* static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.
|
||||
|
||||
@@ -135,7 +135,7 @@ The following are the launch parameters available:
|
||||
* **`frames_per_trigger`**
|
||||
* The frame number of each stream after each trigger in triggering mode.
|
||||
|
||||
> Used for [multi camera synced](../5_advanced_guide/multi_camera_synced.md).
|
||||
> Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md).
|
||||
|
||||
#### Network Cameras
|
||||
* **`enumerate_net_device`**
|
||||
@@ -143,19 +143,19 @@ The following are the launch parameters available:
|
||||
* **`net_device_ip`** / **`net_device_port`**
|
||||
* Set net device's IP address and port (Usually `8090`).
|
||||
|
||||
> Used for [net camera](../5_advanced_guide/net_camera.md).
|
||||
> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
|
||||
|
||||
#### Device-Specific
|
||||
* **`device_preset`**
|
||||
* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/predefined_presets.md).
|
||||
* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/configuration/predefined_presets.md).
|
||||
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
|
||||
* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/gmsl_camera.md).
|
||||
* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
|
||||
|
||||
#### Disparity
|
||||
* **`disparity_to_depth_mode`**
|
||||
* `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
|
||||
* **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
|
||||
* Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/disparity_search_offset.md).
|
||||
* Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md).
|
||||
|
||||
#### Interleave AE Mode
|
||||
* **`interleave_ae_mode`**
|
||||
@@ -164,7 +164,7 @@ The following are the launch parameters available:
|
||||
* Parameters to control interleave frame mode.
|
||||
* **`[hdr|laser]_index[0|1]_[...]`**
|
||||
* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
|
||||
* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/interleave_ae_mode.md).*
|
||||
* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
|
||||
|
||||
### Basic & General Parameters
|
||||
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
### TF from coordinate A to coordinate B:
|
||||
|
||||
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
|
||||
|
||||
Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
|
||||
|
||||
Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
|
||||
|
||||
Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
|
||||
```
|
||||
|
||||
|
||||
@@ -1,26 +1,42 @@
|
||||
Advanced Guide
|
||||
======================================================
|
||||
|
||||
This chapter covers advanced features of the SDK, including multi-camera synchronization, depth-color alignment, performance tuning, and more.
|
||||
This chapter covers advanced features of the SDK, including multi-camera usage, performance tuning, and special configuration modes.
|
||||
|
||||
Performance & Optimization
|
||||
------------------------------------------------------
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
align_depth_color.md
|
||||
benchmark.md
|
||||
building_a_Debian_Package.md
|
||||
configuration_of_depth_NFOV_and_WFOV_modes.md
|
||||
depth_work_mode_switch.md
|
||||
disparity_search_offset.md
|
||||
efficient_intra_process_communication.md
|
||||
fastdds_tuning.md
|
||||
gmsl_camera.md
|
||||
interleave_ae_mode.md
|
||||
lower_cpu_usage.md
|
||||
multi_camera.md
|
||||
multi_camera_synced.md
|
||||
multi_camera_synced_verification_tool.md
|
||||
net_camera.md
|
||||
point_cloud.md
|
||||
predefined_presets.md
|
||||
performance/benchmark.md
|
||||
performance/lower_cpu_usage.md
|
||||
performance/efficient_intra_process_communication.md
|
||||
performance/fastdds_tuning.md
|
||||
|
||||
|
||||
Multi-Camera
|
||||
------------------------------------------------------
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
multi_camera/multi_camera.md
|
||||
multi_camera/multi_camera_synced.md
|
||||
multi_camera/multi_camera_synced_verification_tool.md
|
||||
multi_camera/gmsl_camera.md
|
||||
|
||||
|
||||
Configuration & Modes
|
||||
------------------------------------------------------
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
configuration/align_depth_color.md
|
||||
configuration/configuration_of_depth_NFOV_and_WFOV_modes.md
|
||||
configuration/depth_work_mode_switch.md
|
||||
configuration/disparity_search_offset.md
|
||||
configuration/interleave_ae_mode.md
|
||||
configuration/predefined_presets.md
|
||||
configuration/net_camera.md
|
||||
|
||||
+2
-2
@@ -30,10 +30,10 @@ To visualize the aligned images in RViz2:
|
||||
1. Launch RViz2 after running one of the above commands.
|
||||
2. Select the topic for the depth to color overlay image. An example topic selection is shown here:
|
||||
|
||||
|
||||
|
||||
|
||||
### Example of Depth to Color Overlay
|
||||
|
||||
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:
|
||||
|
||||
|
||||
|
||||
+1
-1
@@ -6,7 +6,7 @@
|
||||
|
||||
The definition of disparity search range: For any pixel *(u_l, v)* in the left image, by default, the corresponding disparity search range in the right image is *[ (u_l - 255, v)*, *(u_l, v) ]*, where the disparity search length is 256 and the maximum integer disparity is 255. If the starting point of the search is adjusted to *[ (u_l - 255 - offset, v)*, *(u_l - offset, v) ]*, 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).
|
||||
|
||||
|
||||
|
||||
|
||||
## Parameter Introduction
|
||||
|
||||
+5
-5
@@ -14,7 +14,7 @@ The interleave_ae related parameters are set in [gemini_330_series.launch.py](ht
|
||||
|
||||
* `interleave_skip_index` : Set 0 for skip pattern ir, set 1 for skip flood ir.
|
||||
|
||||
### interleave hdr
|
||||
**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
|
||||
|
||||
@@ -38,7 +38,7 @@ When the `interleave_ae_mode` parameter is set to `hdr` and `interleave_frame_en
|
||||
|
||||
* `hdr_index0_ir_ae_max_exposure` : Frame 0 ir maximum exposure value setting in AE (auto exposure).
|
||||
|
||||
### interleave laser
|
||||
**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
|
||||
|
||||
@@ -70,11 +70,11 @@ Setting the interleave_ae parameter,`colcon build` again and run launch
|
||||
ros2 launch orbbec_camera gemini_330_series.launch.py
|
||||
```
|
||||
|
||||
#### Example Visualization
|
||||
**Example Visualization**
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## Multi_camera_synced + Interleave_ae
|
||||
|
||||
+3
-3
@@ -4,7 +4,7 @@
|
||||
|
||||
## Femto Mega & Gemini 435Le
|
||||
|
||||
### Parameter Introduction
|
||||
**Parameter Introduction**
|
||||
|
||||
Network device settings: `enumerate_net_device` is set to true, which will automatically enumerate network devices.
|
||||
|
||||
@@ -14,7 +14,7 @@ If you do not want to automatically enumerate network devices,you can set `enume
|
||||
* `net_device_ip` : Setting net device's IP address.
|
||||
* `net_device_port` : Setting net device's port.Usually, you can set it to 8090.
|
||||
|
||||
### Single Net camera
|
||||
**Single Net camera**
|
||||
|
||||
> If you need to run Gemini 435Le, you only need to replace [femto_mega.launch.py ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py)in the run command with [gemini435_le.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py)
|
||||
|
||||
@@ -42,7 +42,7 @@ Network device settings: `enumerate_net_device` must be set to true, set `net_de
|
||||
* `net_device_ip` : Setting net device's IP address.
|
||||
* `net_device_port` : Setting net device's port.Usually, you can set it to 8090.
|
||||
|
||||
### Single Net camera
|
||||
**Single Net camera**
|
||||
|
||||
For [gemini_330_series.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py) as an example:
|
||||
|
||||
+2
-2
@@ -34,12 +34,12 @@ First, please see how to use [multi_camera_synced](./multi_camera_synced.md).
|
||||
|
||||
In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the `primary` mode. Each GMSL camera is `secondary`.
|
||||
|
||||
### Additional Parameter Settings
|
||||
**Additional Parameter Settings**
|
||||
|
||||
* `gmsl_trigger_fps` : set hardware soc trigger source frame rate.
|
||||
* `enable_gmsl_trigger` : enable hardware soc trigger.
|
||||
|
||||
### Run the launch
|
||||
**Run the launch**
|
||||
|
||||
Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py)
|
||||
|
||||
+1
-1
@@ -88,4 +88,4 @@ ros2 launch orbbec_camera multi_camera.launch.py
|
||||
|
||||
## Image topic frame rate too low from Multiple Cameras
|
||||
|
||||
Refer to the [Fast DDS Configuration](./fastdds_tuning.md) file.
|
||||
Refer to the [Fast DDS Configuration](../performance/fastdds_tuning.md) file.
|
||||
+3
-3
@@ -2,12 +2,12 @@
|
||||
|
||||
> The purpose of this document is to explain how to use multi-camera synced with OrbbecSDK_ROS2
|
||||
|
||||
## Setup instructions
|
||||
### Setup instructions
|
||||
|
||||
* Please read the Multi-Camera Synchronization Setup Guide:[Multi-Camera Synchronization Setup](https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/)
|
||||
* Make sure the camera is correctly connected to the multi-camera synchronizer.
|
||||
|
||||
|
||||
|
||||
|
||||
### Checking camera port with OrbbecSDK_ROS2
|
||||
|
||||
@@ -19,7 +19,7 @@ ros2 run orbbec_camera list_devices_node
|
||||
|
||||
Open multi_camera_synced.launch.py, and configure the camera settings as shown below:
|
||||
|
||||
|
||||
|
||||
|
||||
1. `gemini_330_series.launch.py` is the launch file for starting the camera.
|
||||
|
||||
+11
-11
@@ -19,12 +19,12 @@
|
||||
├── multi_camera_synced_verify.launch.py
|
||||
```
|
||||
|
||||
### multicamera_sync
|
||||
**multicamera_sync**
|
||||
|
||||
* `gemini_330_series_synced_verify.launch.py` : Single camera runs launch, which provides the camera running node for multi_camera_synced_verify.launch.py.
|
||||
* `multi_camera_synced_verify.launch.py` : Multi camer synced + launch of save_rgbir tool.
|
||||
|
||||
#### output
|
||||
**output**
|
||||
|
||||
> The `ouput` folder is the folder where the camera pictures are output
|
||||
|
||||
@@ -36,13 +36,13 @@ In the output example provided
|
||||
* `DevicesInfo.txt` : Camera equipment basic information (need to be modified).
|
||||
* `StreamProfileInfo.txt` : Camera video stream information (no need to modify).
|
||||
|
||||
#### Python
|
||||
**Python**
|
||||
|
||||
* `Config.ini` : Configuration file for Python analysis script (need to be modified).
|
||||
|
||||
## Preparation for operation
|
||||
|
||||
### save_rgbir node
|
||||
**save_rgbir node**
|
||||
|
||||
Edit multi_camera_synced_verify.launch.py and fill in the activated camera device,we can find that save_rgbir is started at the end.
|
||||
|
||||
@@ -88,7 +88,7 @@ save_rgbir is a tool for saving images. The configuration file of this tool is i
|
||||
* `usb_ports` : "primary", "secondary 1", "secondary 2", "secondary 3", fill in as many usb_ports as there are cameras
|
||||
* `camera_name` : The name of the camera setting, for example: camera_01
|
||||
|
||||
### DevicesInfo.txt
|
||||
**DevicesInfo.txt**
|
||||
|
||||
Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber` parameters need to be changed. Other parameters do not need to be changed.Refer to the example of [20250218102900](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900).
|
||||
|
||||
@@ -96,13 +96,13 @@ Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber`
|
||||
* `index` : Camera index
|
||||
* `serialNumber` : The SN serial number of the camera
|
||||
|
||||
### Config.ini
|
||||
**Config.ini**
|
||||
|
||||
Edit Config.ini.Modify `frameRate` and `tspRangeThreshold`.
|
||||
|
||||
## Run this example
|
||||
|
||||
### Run launch and save camera pictures
|
||||
**Run launch and save camera pictures**
|
||||
|
||||
* First terminal
|
||||
|
||||
@@ -118,7 +118,7 @@ ros2 service call /save_rgbir/start_capture orbbec_camera_msgs/srv/SetInt32 '{da
|
||||
|
||||
When the terminal displays "over", the image is saved.A new multicamera_sync folder will be generated under the workspace.
|
||||
|
||||
### Camera pictures naming format
|
||||
**Camera pictures naming format**
|
||||
|
||||
Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example
|
||||
|
||||
@@ -131,7 +131,7 @@ Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg]
|
||||
* `e50` : The exposure of this frame is 50.
|
||||
* `d16` : The gain of this frame is 16.
|
||||
|
||||
### Analyzing camera image data
|
||||
**Analyzing camera image data**
|
||||
|
||||
You need to copy the modified [Python folder](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python) to the new multi_camera_synced subdirectory, and copy the modified [DevicesInfo.txt ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt)and [StreamProfileInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/StreamProfileInfo.txt) to the same level directory as the TotalModeFrames folder.
|
||||
|
||||
@@ -146,13 +146,13 @@ After the operation is successful, you can view the synchronization effect in th
|
||||
|
||||
## Files that need to be changed
|
||||
|
||||
### Analysis tools
|
||||
**Analysis tools**
|
||||
|
||||
* [multi_save_rgbir_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json)
|
||||
* [DevicesInfo.txt ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/DevicesInfo.txt)
|
||||
* [Config.ini](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini)
|
||||
|
||||
### Camera Configuration
|
||||
**Camera Configuration**
|
||||
|
||||
[camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml)(Camera startup parameter settings)
|
||||
|
||||
-2
@@ -2,8 +2,6 @@
|
||||
|
||||
> 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)
|
||||
|
||||
## Usage Instructions
|
||||
|
||||
### Tool Configuration ([start_benchmark_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json))
|
||||
|
||||
```json
|
||||
+8
-4
@@ -1,20 +1,23 @@
|
||||
# Efficient intra-process communication:
|
||||
|
||||
### Introduction
|
||||
|
||||
Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.
|
||||
|
||||
You will need to launch a component container and launch our node as a component together with other component nodes. Further details on "Composing multiple nodes in a single process" can be found [here](https://docs.ros.org/en/rolling/Tutorials/Composition.html).
|
||||
|
||||
Further details on efficient intra-process communication can be found [here](https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication).
|
||||
|
||||
## Example
|
||||
### Example
|
||||
|
||||
### Manually loading multiple components into the same process
|
||||
**Manually loading multiple components into the same process**
|
||||
|
||||
* Start the component:
|
||||
|
||||
```bash
|
||||
ros2 run rclcpp_components component_container
|
||||
```
|
||||
|
||||
* Add the wrapper:
|
||||
|
||||
```bash
|
||||
@@ -23,13 +26,14 @@ Further details on efficient intra-process communication can be found [here](htt
|
||||
|
||||
Load other component nodes (consumers of the wrapper topics) in the same way.
|
||||
|
||||
### Using a launch file
|
||||
**Using a launch file**
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
|
||||
```
|
||||
|
||||
### Limitations
|
||||
**Limitations**
|
||||
|
||||
* Node components are currently not supported on RCLPY
|
||||
|
||||
* Compressed images using `image_transport` will be disabled as this isn't supported with intra-process communication
|
||||
+5
-5
@@ -6,7 +6,7 @@ optimizing Fast DDS to enhance image transfer efficiency.
|
||||
|
||||
## Adjusting System Parameters
|
||||
|
||||
### IP Fragmentation Time
|
||||
**IP Fragmentation Time**
|
||||
|
||||
- **Path**: `/proc/sys/net/ipv4/ipfrag_time` (default: 30 seconds)
|
||||
- **Purpose**: Defines the duration that IP fragments are kept in memory.
|
||||
@@ -19,7 +19,7 @@ optimizing Fast DDS to enhance image transfer efficiency.
|
||||
sudo sysctl net.ipv4.ipfrag_time=3
|
||||
```
|
||||
|
||||
### IP Fragmentation Memory Threshold
|
||||
**IP Fragmentation Memory Threshold**
|
||||
|
||||
- **Path**: `/proc/sys/net/ipv4/ipfrag_high_thresh` (default: 262144 bytes)
|
||||
- **Purpose**: Sets the maximum memory used to reassemble IP fragments.
|
||||
@@ -32,7 +32,7 @@ optimizing Fast DDS to enhance image transfer efficiency.
|
||||
sudo sysctl net.ipv4.ipfrag_high_thresh=134217728
|
||||
```
|
||||
|
||||
### Maximum Buffer Sizes
|
||||
**Maximum Buffer Sizes**
|
||||
|
||||
- **Purpose**: Configures the maximum buffer sizes for receiving and sending data, which is critical for high-throughput
|
||||
data transmission.
|
||||
@@ -72,7 +72,7 @@ to [ROS 2 DDS Tuning Documentation](https://docs.ros.org/en/foxy/How-To-Guides/D
|
||||
Below is an example of a Fast DDS configuration file optimized for ROS2 usage with the Orbbec camera. This configuration
|
||||
enhances the overall data transmission by adjusting buffer sizes and transport settings.
|
||||
|
||||
### Configuration File: `shm_fastdds.xml`
|
||||
**Configuration File:** `shm_fastdds.xml`
|
||||
|
||||
Place this file in the `$HOME` directory.
|
||||
|
||||
@@ -140,7 +140,7 @@ Place this file in the `$HOME` directory.
|
||||
</profiles>
|
||||
```
|
||||
|
||||
### Environment Variables
|
||||
**Environment Variables**
|
||||
|
||||
Set the following environment variables to use the custom Fast DDS profile:
|
||||
|
||||
+17
-9
@@ -19,35 +19,43 @@ To achieve the lowest possible CPU usage in OrbbecSDK_ROS2, it is recommended to
|
||||
|
||||
### Test environment
|
||||
|
||||
#### Hardware Configuration
|
||||
**Hardware Configuration**
|
||||
|
||||
* **CPU**: Intel i7-8700 @ 3.20GHz
|
||||
|
||||
* **Memory**: 24 GB
|
||||
|
||||
* **Storage**: Micron 2200S NVMe 256GB
|
||||
|
||||
* **GPU**: NVIDIA GeForce GTX 1660Ti
|
||||
|
||||
* **OS**: Ubuntu22.04
|
||||
|
||||
#### ROS Configuration
|
||||
**ROS Configuration**
|
||||
|
||||
* **ROS Version**: ROS2 Humble
|
||||
|
||||
* **SDK Version**: OrbbecSDK_ROS2 v2.2.1
|
||||
|
||||
#### Camera Setup
|
||||
**Camera Setup**
|
||||
|
||||
* Devices: 2x Gemini 335, 1x Gemini 336, 1x Gemini 336L
|
||||
|
||||
* Firmware Version: 1.4.10
|
||||
|
||||
|
||||
### Test Setup
|
||||
|
||||
* **Stream Settings:**
|
||||
* Depth / IR Left / IR Right: 848×480 @ 30fps
|
||||
* Color: 848×480 @ 30fps
|
||||
**Stream Settings:**
|
||||
|
||||
* Depth / IR Left / IR Right: 848×480 @ 30fps
|
||||
* Color: 848×480 @ 30fps
|
||||
|
||||
Note: The following CPU usage data focuses on `uvc_backend`, `color_format` and various filter combinations.
|
||||
|
||||
### Test Results
|
||||
|
||||
#### `uvc_backend` Comparison (RGB format)
|
||||
**`uvc_backend` Comparison (RGB format)**
|
||||
|
||||
| libuvc CPU Usage | v4l2 CPU Usage | Absolute Change |
|
||||
| :--------------: | :------------: | :-------------: |
|
||||
@@ -55,7 +63,7 @@ Note: The following CPU usage data focuses on `uvc_backend`, `color_format` and
|
||||
|
||||
The CPU usage can be significantly reduced with v4l2 backend. In our implementation, v4l2 works without requiring any patches to the Linux kernel, allowing users to easily switch between v4l2 and libuvc and maintaining full compatibility with standard Linux distributions.
|
||||
|
||||
#### `color_format` Comparison (MJPG vs RGB)
|
||||
**`color_format` Comparison (MJPG vs RGB)**
|
||||
|
||||
| Backend | MJPG CPU Usage | RGB CPU Usage | Absolute Change |
|
||||
| :-----: | :------------: | :-----------: | :-------------: |
|
||||
@@ -64,7 +72,7 @@ The CPU usage can be significantly reduced with v4l2 backend. In our implementat
|
||||
|
||||
The CPU usage can be reduced if the RGB format is selected instead of MJPG, since the decoding of MJPG image will consume the host CPU resource.
|
||||
|
||||
#### Filter Configuration Impact
|
||||
**Filter Configuration Impact**
|
||||
|
||||
| Filters Applied | libuvc CPU Usage | CPU Usage Increase | v4l2 CPU Usage | CPU Usage Increase |
|
||||
| ----------------------------------------------------- | ---------------- | ------------------ | -------------- | ------------------ |
|
||||
@@ -0,0 +1,10 @@
|
||||
Developer Guide
|
||||
======================================================
|
||||
|
||||
This chapter provides documents for developers and maintainers of the SDK.
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
|
||||
building_a_Debian_Package.md
|
||||
|
||||
+92
-143
@@ -138,180 +138,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -355,7 +304,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+129
-220
@@ -140,180 +140,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -405,98 +354,58 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -514,7 +423,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
BIN
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|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -363,7 +312,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -347,8 +296,130 @@
|
||||
<section id="introduction">
|
||||
<h1><span class="section-number">1.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h1>
|
||||
<p>OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.</p>
|
||||
<p>With a major update in October 2024, we release the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main">OrbbecSDK ROS2 Wrapper v2</a> connected to the open source <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_v2/releases">OrbbecSDK v2</a> with enhanced flexibility and extensibility. This update ensures compatibility with all Orbbec USB products adhering to UVC standard. However, it no longer supports Orbbec’s traditional OpenNI protocol devices. We strongly encourage you to use the v2-main branch if your device is supported.</p>
|
||||
<p>By default, we recommend using the <strong>v2-main</strong> branch. For older OpenNI devices not supported by v2-main, please use the <strong>main</strong> branch. Device models that are only supported by the main branch are listed in the table below.</p>
|
||||
<p>If you are a user in China, it is recommended to use <a class="reference external" href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">gitee Repo</a>.</p>
|
||||
<p>Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):</p>
|
||||
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
|
||||
<thead>
|
||||
<tr style="background-color: #1f4e78; color: white; text-align: center;">
|
||||
<th>Product Series</th>
|
||||
<th>Product</th>
|
||||
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">Branch main</a></th>
|
||||
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">Branch v2-main</a></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
|
||||
<td>Gemini 435Le</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
|
||||
<td>Gemini 335</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 336</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 336L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335Lg</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335Le</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 330</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 330L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Gemini 2</td>
|
||||
<td>Gemini 2</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 2 L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 2 XL</td>
|
||||
<td>Recommended for new designs</td>
|
||||
<td>To be supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
|
||||
<td>Femto Bolt</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega I</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>To be supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
|
||||
<td>Astra 2</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Astra+</td>
|
||||
<td>Limited maintenance</td>
|
||||
<td>Not supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Astra Pro Plus</td>
|
||||
<td>Limited maintenance</td>
|
||||
<td>Not supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center; font-weight: bold;">Astra Mini</td>
|
||||
<td>Astra Mini Pro</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Full maintenance</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><strong>Note</strong>: If you do not find your device, please contact our FAE or sales representative for help.</p>
|
||||
<p><strong>Definition</strong>:</p>
|
||||
<ol class="simple">
|
||||
<li><p>Recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;</p></li>
|
||||
<li><p>Full maintenance: we will provide bug fix support;</p></li>
|
||||
<li><p>Limited maintenance: we will provide critical bug fix support;</p></li>
|
||||
<li><p>Not supported: we will not support specific device in this version;</p></li>
|
||||
<li><p>To be supported: we will add support in the near future.</p></li>
|
||||
</ol>
|
||||
<section id="support-hardware-products">
|
||||
<h2><span class="section-number">1.1.1. </span>Support Hardware Products<a class="headerlink" href="#support-hardware-products" title="Link to this heading"></a></h2>
|
||||
<p>The following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> branch.</p>
|
||||
@@ -462,7 +533,7 @@ for different models within the same series. Differences in USB standards, such
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -539,7 +488,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+92
-143
@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -376,7 +325,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -372,13 +321,18 @@ git<span class="w"> </span>checkout<span class="w"> </span>v2-main
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>Install dependencies:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w"> </span>libgoogle-glog-dev<span class="w"> </span>libgoogle-glog0v5<span class="w"> </span>libssl-dev<span class="w"> </span><span class="se">\</span>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-image-transport-plugins<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-compressed-image-transport<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-camera-info-manager<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>Optional dependencies:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 435Le writeCustomerDate feature:</span>
|
||||
sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libssl-dev
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>Build:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws
|
||||
colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
|
||||
@@ -399,7 +353,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -370,7 +319,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -368,7 +317,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -446,7 +395,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -370,7 +319,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -373,6 +322,15 @@
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
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|
||||
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information & Management</a></li>
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<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
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|
||||
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||||
<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
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||||
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||||
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|
||||
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||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.5. Camera sensor structure</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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||||
</ul>
|
||||
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|
||||
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|
||||
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
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|
||||
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
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||||
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
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||||
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||||
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|
||||
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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||||
</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
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||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
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||||
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<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">4.7. </span>Compressed Image</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/source/4_application_guide/compressed_image.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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||||
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||||
<section id="compressed-image">
|
||||
<h1><span class="section-number">4.7. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
|
||||
<p>You can use <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> to compress the image using <code class="docutils literal notranslate"><span class="pre">jpeg</span></code>. Below is an example of how to use it:</p>
|
||||
<p>To access the compressed color image, you can use the following command:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>This command will allow you to receive the compressed color image from the specified topic.</p>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
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</li>
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<section id="ros2-robot-vs-optical-camera-coordination-systems">
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<h1><span class="section-number">4.4. </span>ROS2(Robot) vs Optical(Camera) Coordination Systems<a class="headerlink" href="#ros2-robot-vs-optical-camera-coordination-systems" title="Link to this heading"></a></h1>
|
||||
<ul class="simple">
|
||||
<li><p>Point Of View:</p>
|
||||
<ul>
|
||||
<li><p>Imagine we are standing behind of the camera, and looking forward.</p></li>
|
||||
<li><p>Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..</p></li>
|
||||
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<p><img alt="ROS2 and Camera Coordinate System" src="../../_images/image0.png" /></p>
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<ul class="simple">
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||||
<li><p>ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)</p></li>
|
||||
<li><p>Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)</p></li>
|
||||
<li><p>All data published in our wrapper topics is optical data taken directly from our camera sensors.</p></li>
|
||||
<li><p>static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.</p></li>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -627,7 +576,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
<blockquote>
|
||||
<div><p>Used for <a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html"><span class="doc">multi camera synced</span></a>.</p>
|
||||
<div><p>Used for <a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html"><span class="doc">multi camera synced</span></a>.</p>
|
||||
</div></blockquote>
|
||||
</section>
|
||||
<section id="network-cameras">
|
||||
@@ -645,7 +594,7 @@
|
||||
</li>
|
||||
</ul>
|
||||
<blockquote>
|
||||
<div><p>Used for <a class="reference internal" href="../5_advanced_guide/net_camera.html"><span class="doc">net camera</span></a>.</p>
|
||||
<div><p>Used for <a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html"><span class="doc">net camera</span></a>.</p>
|
||||
</div></blockquote>
|
||||
</section>
|
||||
<section id="device-specific">
|
||||
@@ -653,12 +602,12 @@
|
||||
<ul class="simple">
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
|
||||
<ul>
|
||||
<li><p>The default value is <code class="docutils literal notranslate"><span class="pre">Default</span></code>. Only the G330 series is supported. For more information, refer to the <a class="reference external" href="https://www.orbbec.com/docs/g330-use-depth-presets/">G330 documentation</a>. The value should be one of the preset names listed <a class="reference internal" href="../5_advanced_guide/predefined_presets.html"><span class="doc">in the table</span></a>.</p></li>
|
||||
<li><p>The default value is <code class="docutils literal notranslate"><span class="pre">Default</span></code>. Only the G330 series is supported. For more information, refer to the <a class="reference external" href="https://www.orbbec.com/docs/g330-use-depth-presets/">G330 documentation</a>. The value should be one of the preset names listed <a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html"><span class="doc">in the table</span></a>.</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code></strong></p>
|
||||
<ul>
|
||||
<li><p>Enable the gmsl trigger out signal / set gmsl trigger fps. Used for <a class="reference internal" href="../5_advanced_guide/gmsl_camera.html"><span class="doc">gmsl camera</span></a>.</p></li>
|
||||
<li><p>Enable the gmsl trigger out signal / set gmsl trigger fps. Used for <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl camera</span></a>.</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -673,7 +622,7 @@
|
||||
</li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code></strong>, <strong><code class="docutils literal notranslate"><span class="pre">disparity_search_offset</span></code></strong>, <strong><code class="docutils literal notranslate"><span class="pre">disparity_offset_config</span></code></strong></p>
|
||||
<ul>
|
||||
<li><p>Parameters for disparity search offset. Used for <a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html"><span class="doc">disparity search offset</span></a>.</p></li>
|
||||
<li><p>Parameters for disparity search offset. Used for <a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html"><span class="doc">disparity search offset</span></a>.</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -696,7 +645,7 @@
|
||||
<li><p>In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><em>All interleave parameters are used for <a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html"><span class="doc">interleave ae mode</span></a>.</em></p></li>
|
||||
<li><p><em>All interleave parameters are used for <a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html"><span class="doc">interleave ae mode</span></a>.</em></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
@@ -944,7 +893,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -0,0 +1,381 @@
|
||||
|
||||
|
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OrbbecSDK V2 ROS2 Wrapper
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.2. Support Platforms</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
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<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
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|
||||
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||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
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||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
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|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
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<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">4.8. </span>Enabling and Visualizing Point Cloud in ROS 2</li>
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<a href="../../_sources/source/4_application_guide/point_cloud.md.txt" rel="nofollow"> View page source</a>
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<hr/>
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</div>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
|
||||
|
||||
<section id="enabling-and-visualizing-point-cloud-in-ros-2">
|
||||
<h1><span class="section-number">4.8. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="headerlink" href="#enabling-and-visualizing-point-cloud-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<p>This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.</p>
|
||||
<section id="enabling-depth-point-cloud">
|
||||
<h2><span class="section-number">4.8.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
|
||||
<section id="command-to-enable-depth-point-cloud">
|
||||
<h3><span class="section-number">4.8.1.1. </span>Command to Enable Depth Point Cloud<a class="headerlink" href="#command-to-enable-depth-point-cloud" title="Link to this heading"></a></h3>
|
||||
<p>To activate the point cloud data stream for depth information, use the following command:</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<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="visualizing-depth-point-cloud-in-rviz2">
|
||||
<h3><span class="section-number">4.8.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="headerlink" href="#visualizing-depth-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<p>After running the above command, perform the following steps to visualize the depth point cloud:</p>
|
||||
<ol class="simple">
|
||||
<li><p>Open RViz2.</p></li>
|
||||
<li><p>Add a <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> display.</p></li>
|
||||
<li><p>Select the <code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code> topic for visualization.</p></li>
|
||||
<li><p>Set the fixed frame to <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> to properly align the data.</p></li>
|
||||
</ol>
|
||||
<ul class="simple">
|
||||
<li><p><strong>Example Visualization</strong></p></li>
|
||||
</ul>
|
||||
<p>Here is what the depth point cloud might look like in RViz2:</p>
|
||||
<p><img alt="Depth Point Cloud Visualization" src="../../_images/image5.jpg" /></p>
|
||||
</section>
|
||||
</section>
|
||||
<section id="enabling-colored-point-cloud">
|
||||
<h2><span class="section-number">4.8.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
|
||||
<section id="command-to-enable-colored-point-cloud">
|
||||
<h3><span class="section-number">4.8.2.1. </span>Command to Enable Colored Point Cloud<a class="headerlink" href="#command-to-enable-colored-point-cloud" title="Link to this heading"></a></h3>
|
||||
<p>To enable the colored point cloud feature, enter the following command:</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<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="visualizing-colored-point-cloud-in-rviz2">
|
||||
<h3><span class="section-number">4.8.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<p>To visualize the colored point cloud data:</p>
|
||||
<ol class="simple">
|
||||
<li><p>Launch RViz2 following the command execution.</p></li>
|
||||
<li><p>Add a <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> display panel.</p></li>
|
||||
<li><p>Choose the <code class="docutils literal notranslate"><span class="pre">/camera/depth_registered/points</span></code> topic from the list.</p></li>
|
||||
<li><p>Ensure the fixed frame is set to <code class="docutils literal notranslate"><span class="pre">camera_link</span></code>.</p></li>
|
||||
</ol>
|
||||
<ul class="simple">
|
||||
<li><p><strong>Example Visualization</strong></p></li>
|
||||
</ul>
|
||||
<p>The result of the colored point cloud in RViz2 should look similar to this:</p>
|
||||
<p><img alt="Colored Point Cloud Visualization" src="../../_images/image6.jpg" /></p>
|
||||
</section>
|
||||
</section>
|
||||
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|
||||
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
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@@ -141,180 +141,129 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
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||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
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</li>
|
||||
</ul>
|
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
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||||
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||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
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</ul>
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</li>
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</ul>
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@@ -627,7 +576,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
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|
||||
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|
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|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
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|
||||
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||||
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|
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<li class="toctree-l3"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
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<h1><span class="section-number">4.6. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h1>
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<p>In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position</p>
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<p>Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)</p>
|
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<p>Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.</p>
|
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<p>Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
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<li class="toctree-l3"><a class="reference internal" href="#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
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|
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
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|
||||
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|
||||
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||||
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||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
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|
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||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
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|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
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||||
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||||
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||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l2"><a class="reference internal" href="#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
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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/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
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||||
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<li class="toctree-l4"><a class="reference internal" href="performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
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||||
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<li class="toctree-l2"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l2"><a class="reference internal" href="depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
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<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
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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>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="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>
|
||||
</ul>
|
||||
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||||
<li class="toctree-l2"><a class="reference internal" href="efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></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>
|
||||
</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>
|
||||
</ul>
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||||
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|
||||
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|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></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>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
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|
||||
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|
||||
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|
||||
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||||
<li class="toctree-l2"><a class="reference internal" href="gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -345,108 +294,121 @@
|
||||
|
||||
<section id="advanced-guide">
|
||||
<h1><span class="section-number">5. </span>Advanced Guide<a class="headerlink" href="#advanced-guide" title="Link to this heading"></a></h1>
|
||||
<p>This chapter covers advanced features of the SDK, including multi-camera synchronization, depth-color alignment, performance tuning, and more.</p>
|
||||
<p>This chapter covers advanced features of the SDK, including multi-camera usage, performance tuning, and special configuration modes.</p>
|
||||
<section id="performance-optimization">
|
||||
<h2><span class="section-number">5.1. </span>Performance & Optimization<a class="headerlink" href="#performance-optimization" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark.html#usage-instructions">5.2.1. Usage Instructions</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.7.1. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
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|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
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|
||||
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||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a></li>
|
||||
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|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a></li>
|
||||
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|
||||
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|
||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a></li>
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||||
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||||
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||||
<li class="toctree-l1"><a class="reference internal" href="predefined_presets.html">5.17. Predefined presets</a></li>
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||||
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||||
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||||
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|
||||
<section id="multi-camera">
|
||||
<h2><span class="section-number">5.2. </span>Multi-Camera<a class="headerlink" href="#multi-camera" title="Link to this heading"></a></h2>
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||||
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|
||||
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||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
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||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
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||||
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<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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<h2><span class="section-number">5.3. </span>Configuration & Modes<a class="headerlink" href="#configuration-modes" title="Link to this heading"></a></h2>
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<li class="toctree-l1"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
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<li class="toctree-l1"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l1"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
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<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
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<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
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<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark.html">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
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|
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|
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|
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|
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|
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<h1><span class="section-number">5.1. </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>
|
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<p>This section explains how to align depth images with color images to create an overlay image using ROS 2. This is particularly useful for applications requiring synchronized visual information from different sensor modalities.</p>
|
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<section id="commands-to-align-and-view-depth-and-color-images">
|
||||
<h2><span class="section-number">5.1.1. </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>
|
||||
<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<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span>
|
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</pre></div>
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</div>
|
||||
<p>This command activates the depth registration feature without opening a viewer.</p>
|
||||
</li>
|
||||
<li><p><strong>Viewing Depth to Color Overlay:</strong></p>
|
||||
<p>If you wish to view the depth to color overlay, you need to enable the viewer by using the command below:</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<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>enable_d2c_viewer:<span class="o">=</span><span class="nb">true</span>
|
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</pre></div>
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</div>
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<p>This launches the camera node with depth to color registration and opens a viewer to display the overlay image.</p>
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<h2><span class="section-number">5.1.2. </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>
|
||||
<li><p>Select the topic for the depth to color overlay image. An example topic selection is shown here:</p>
|
||||
<p><img alt="Topic Selection for Depth to Color Overlay" src="../../_images/image3.png" /></p>
|
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</li>
|
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</ol>
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</section>
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<section id="example-of-depth-to-color-overlay">
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<h2><span class="section-number">5.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
|
||||
<p>After selecting the appropriate topic in RViz2, you will be able to see the depth to color overlay image. Here’s what it might look like:</p>
|
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<p><img alt="Depth to Color Overlay Image" src="../../_images/image4.jpg" /></p>
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">5.2. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#usage-instructions">5.2.1. Usage Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#output-data-files">5.2.1.4. Output Data Files</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="gmsl_camera.html">5.9. GMSL_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
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<section id="ob-benchmark-tool">
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<h1><span class="section-number">5.2. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble)</p>
|
||||
</div></blockquote>
|
||||
<section id="usage-instructions">
|
||||
<h2><span class="section-number">5.2.1. </span>Usage Instructions<a class="headerlink" href="#usage-instructions" title="Link to this heading"></a></h2>
|
||||
<section id="tool-configuration-start-benchmark-params-json">
|
||||
<h3><span class="section-number">5.2.1.1. </span>Tool Configuration (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h3>
|
||||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"start_benchmark_params"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"camera_name"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||||
<span class="w"> </span><span class="s2">"camera_01"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_02"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_03"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_04"</span>
|
||||
<span class="w"> </span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="nt">"process_name"</span><span class="p">:</span><span class="w"> </span><span class="s2">"component_conta"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"switch_cycle"</span><span class="p">:</span><span class="w"> </span><span class="mi">300</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"test_cycle"</span><span class="p">:</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"skip_number"</span><span class="p">:</span><span class="w"> </span><span class="mi">30</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">camera_name</span></code>: Names of the cameras to be configured. Example: <code class="docutils literal notranslate"><span class="pre">"camera_01"</span></code>, <code class="docutils literal notranslate"><span class="pre">"camera_02"</span></code>, etc.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">process_name</span></code>: The name of the process to be monitored. For example, <code class="docutils literal notranslate"><span class="pre">"component_conta"</span></code> will monitor the data of the container process.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">switch_cycle</span></code>: The cycle time for switching configurations, in seconds. For example, setting it to <code class="docutils literal notranslate"><span class="pre">300</span></code> means the configuration will switch every 300 seconds.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">test_cycle</span></code>: The testing cycle, in seconds. For example, setting it to <code class="docutils literal notranslate"><span class="pre">1</span></code> means the tool will collect data for the monitored process every 1 second.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">skip_number</span></code>: The number of data points to skip. For example, setting it to <code class="docutils literal notranslate"><span class="pre">30</span></code> means that the first 30 data points will be ignored.</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="camera-configuration-launch-files">
|
||||
<h3><span class="section-number">5.2.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h3>
|
||||
<p>In the launch folder, there are multiple.launch.py files (<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>, …, <code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>). Each file corresponds to a different camera configuration.</p>
|
||||
</section>
|
||||
<section id="running-the-ob-benchmark-tool">
|
||||
<h3><span class="section-number">5.2.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h3>
|
||||
<p>To run the tool, use the following commands:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
|
||||
ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="output-data-files">
|
||||
<h3><span class="section-number">5.2.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h3>
|
||||
<p>The output data files will be stored in the ob_benchmark folder with filenames like <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>, <code class="docutils literal notranslate"><span class="pre">1.csv</span></code>, …, 19.csv. For example:</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">0.csv</span></code> contains data from the <code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code> configuration.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">1.csv</span></code> contains data from the <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code> configuration.</p></li>
|
||||
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|
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
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<a href="../../../_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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<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>
|
||||
<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>
|
||||
<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>
|
||||
<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<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>This command activates the depth registration feature without opening a viewer.</p>
|
||||
</li>
|
||||
<li><p><strong>Viewing Depth to Color Overlay:</strong></p>
|
||||
<p>If you wish to view the depth to color overlay, you need to enable the viewer by using the command below:</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<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>enable_d2c_viewer:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>This launches the camera node with depth to color registration and opens a viewer to display the overlay image.</p>
|
||||
</li>
|
||||
</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>
|
||||
<p>To visualize the aligned images in RViz2:</p>
|
||||
<ol>
|
||||
<li><p>Launch RViz2 after running one of the above commands.</p></li>
|
||||
<li><p>Select the topic for the depth to color overlay image. An example topic selection is shown here:</p>
|
||||
<p><img alt="Topic Selection for Depth to Color Overlay" src="../../../_images/image31.png" /></p>
|
||||
</li>
|
||||
</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>
|
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
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||||
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||||
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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|
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</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
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|
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|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
|
||||
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|
||||
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||||
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|
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|
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|
||||
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|
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|
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|
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|
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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<h1><span class="section-number">5.3.2. </span>Configuration of depth NFOV and WFOV modes<a class="headerlink" href="#configuration-of-depth-nfov-and-wfov-modes" title="Link to this heading"></a></h1>
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<p>For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
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The frame fps and resolution of IR must be consistent with the depth. The correspondence between different modes and
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resolutions is as follows:</p>
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<li><p>NFOV unbinned: 640 x 576.</p></li>
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<li><p>NFOV binned: 320 x 288.</p></li>
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
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</ul>
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|
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|
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<section id="depth-work-mode-switch">
|
||||
<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>
|
||||
<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">
|
||||
<li><p>Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py
|
||||
file’s support.</p></li>
|
||||
<li><p>The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras.</p></li>
|
||||
<li><p>The default depth work mode configuration of xxx.launch.py is the camera’s default configuration. If you need to
|
||||
modify it, you can switch to the corresponding mode as needed.</p></li>
|
||||
<li><p>The specific camera depth work mode support types can be found in the comments of the depth mode.</p></li>
|
||||
</ul>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Depth work mode support is as follows:</span>
|
||||
<span class="c1"># Unbinned Dense Default</span>
|
||||
<span class="c1"># Unbinned Sparse Default</span>
|
||||
<span class="c1"># Binned Sparse Default</span>
|
||||
<span class="c1"># Obstacle Avoidance</span>
|
||||
<span class="n">DeclareLaunchArgument</span><span class="p">(</span><span class="s1">'depth_work_mode'</span><span class="p">,</span> <span class="n">default_value</span><span class="o">=</span><span class="s1">''</span><span class="p">)</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p>View depth work modes:</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_depth_work_mode_node
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p>Example:</p></li>
|
||||
</ul>
|
||||
<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>gemini2L.launch.py<span class="w"> </span>depth_work_mode:<span class="o">=</span><span class="s2">"Unbinned Dense Default"</span>
|
||||
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|
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
|
||||
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
|
||||
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||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</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>
|
||||
</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>
|
||||
</ul>
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</li>
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<a href="../../../_sources/source/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> View page source</a>
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<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_search_offset</span></code> : Disparity search offset value,Disparity search offset value, can be set from 0 to 127.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_offset_config</span></code> : Disparity search offset interleave frames.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">offset_index0</span></code> : Frame 0 disparity search offset value.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">offset_index1</span></code> : Frame 1 disparity search offset value.</p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">disparity range mode</th>
|
||||
<th style="text-align: center;">disparity search offset</th>
|
||||
<th style="text-align: center;">Minimum depth of inclined wall (mm)</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">64</td>
|
||||
<td style="text-align: center;">85</td>
|
||||
<td style="text-align: center;">Gemini 335L 388-406</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">64</td>
|
||||
<td style="text-align: center;">127</td>
|
||||
<td style="text-align: center;">Gemini 335L 302-317</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">disparity range mode</th>
|
||||
<th style="text-align: center;">disparity search offset</th>
|
||||
<th style="text-align: center;">Minimum depth of inclined wall (mm)</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">128</td>
|
||||
<td style="text-align: center;">0</td>
|
||||
<td style="text-align: center;">Gemini 335 233-249<br />Gemini 335L 453-475</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">128</td>
|
||||
<td style="text-align: center;">45</td>
|
||||
<td style="text-align: center;">Gemini 335 172-184<br />Gemini 335L 334-349</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">128</td>
|
||||
<td style="text-align: center;">127</td>
|
||||
<td style="text-align: center;">Gemini 335 117-125<br />Gemini 335L 226-236</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">disparity range mode</th>
|
||||
<th style="text-align: center;">disparity search offset</th>
|
||||
<th style="text-align: center;">Minimum depth of inclined wall (mm)</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">256</td>
|
||||
<td style="text-align: center;">85</td>
|
||||
<td style="text-align: center;">Gemini 335L 169-178</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">256</td>
|
||||
<td style="text-align: center;">127</td>
|
||||
<td style="text-align: center;">Gemini 335L 151-158</td>
|
||||
</tr>
|
||||
</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>
|
||||
<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>
|
||||
</div>
|
||||
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