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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-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
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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-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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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>
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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-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>
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<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>
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<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>
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<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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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
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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>
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<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>
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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#network-cameras">4.1.3.2. Network Cameras</a></li>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</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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<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>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</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="../../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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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../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>
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<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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</ul>
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</li>
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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>
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<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>
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<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>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
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<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>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<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>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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<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>
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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-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
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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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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
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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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<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
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</ul>
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||||
</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>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../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>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
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</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
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</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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||||
<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>
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||||
<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>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.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>
|
||||
<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>
|
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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="#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-l4"><a class="reference internal" href="#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
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<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>
|
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|
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|
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<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
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|
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
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|
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|
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<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
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|
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<section id="aligning-depth-to-color-in-ros-2">
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<h1><span class="section-number">5.3.1. </span>Aligning Depth to Color in ROS 2<a class="headerlink" href="#aligning-depth-to-color-in-ros-2" title="Link to this heading"></a></h1>
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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">5.3.1.1. </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>
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||||
<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>
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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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</section>
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<section id="selecting-topics-in-rviz2">
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<h2><span class="section-number">5.3.1.2. </span>Selecting Topics in RViz2<a class="headerlink" href="#selecting-topics-in-rviz2" title="Link to this heading"></a></h2>
|
||||
<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>
|
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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">5.3.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
|
||||
<p>After selecting the appropriate topic in RViz2, you will be able to see the depth to color overlay image. Here’s what it might look like:</p>
|
||||
<p><img alt="Depth to Color Overlay Image" src="../../../_images/image4.jpg" /></p>
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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>
|
||||
</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 current"><a class="current reference internal" href="#">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<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>
|
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|
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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>
|
||||
<p>For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
|
||||
Depth and IR in the launch file.
|
||||
In launch file, depth_width, depth_height, ir_width, ir_height represents the resolution of the depth and the resolution of
|
||||
the IR.
|
||||
The frame fps and resolution of IR must be consistent with the depth. The correspondence between different modes and
|
||||
resolutions is as follows:</p>
|
||||
<ul class="simple">
|
||||
<li><p>NFOV unbinned: 640 x 576.</p></li>
|
||||
<li><p>NFOV binned: 320 x 288.</p></li>
|
||||
<li><p>WFOV unbinned: 1024 x 1024.</p></li>
|
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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#sensor-controls">4.1.2. Sensor Controls</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
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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>
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<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>
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</ul>
|
||||
</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>
|
||||
<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>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<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>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
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|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../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>
|
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<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>
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||||
<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>
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||||
<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>
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||||
</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>
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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>
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||||
</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>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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||||
<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>
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<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>
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</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>
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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-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
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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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<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
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<li class="toctree-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>
|
||||
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|
||||
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|
||||
</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>
|
||||
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|
||||
</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>
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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="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
|
||||
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|
||||
</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>
|
||||
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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="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="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-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
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<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.3. Depth work mode switch</a></li>
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
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|
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|
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<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
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|
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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="../../6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
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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#building-the-package">6.1.3. Building the Package</a></li>
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|
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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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<section id="depth-work-mode-switch">
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<h1><span class="section-number">5.3.3. </span>Depth work mode switch<a class="headerlink" href="#depth-work-mode-switch" title="Link to this heading"></a></h1>
|
||||
<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>
|
||||
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|
||||
<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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|
||||
<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"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 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>
|
||||
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<section id="disparity-search-offset">
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<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>
|
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</div></blockquote>
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<section id="function-introduction">
|
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<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>
|
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<p><img alt="Depth Point Cloud Visualization" src="../../../_images/search_offset0.png" /></p>
|
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</section>
|
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<section id="parameter-introduction">
|
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<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
|
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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>
|
||||
<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"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</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>
|
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|
||||
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<li class="breadcrumb-item active"><span class="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras</li>
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<a href="../../../_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt" rel="nofollow"> View page source</a>
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<div itemprop="articleBody">
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<section id="using-interleave-ae-with-gemini330-series-cameras">
|
||||
<h1><span class="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras<a class="headerlink" href="#using-interleave-ae-with-gemini330-series-cameras" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use interleave_ae in Gemini 330 series cameras (minimum camera firmware version <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>)</p>
|
||||
</div></blockquote>
|
||||
<section id="parameter-introduction">
|
||||
<h2><span class="section-number">5.3.5.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||||
<p>The interleave_ae related parameters are set in <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> : Set laser or hdr interleave.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code> : enable interleave frame mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_skip_enable</span></code> : enable skip frame mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_skip_index</span></code> : Set 0 for skip pattern ir, set 1 for skip flood ir.</p></li>
|
||||
</ul>
|
||||
<p><strong>interleave hdr</strong></p>
|
||||
<p>When the <code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> parameter is set to <code class="docutils literal notranslate"><span class="pre">hdr</span></code> and <code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span> </code>is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, interleave hdr will be enabled</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_laser_control</span></code> : Frame 1 laser switch settings.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_depth_exposure</span></code> : Frame 1 depth exposure value setting, not in AE mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_depth_gain</span></code> : Frame 1 depth gain value setting, not in AE mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_ir_brightness</span></code> : Frame 1 ir gain value setting.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_ir_ae_max_exposure</span></code> : Frame 1 ir maximum exposure value setting in AE (auto exposure).</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_laser_control</span></code>: Frame 0 laser switch settings.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_depth_exposure</span></code>: Frame 0 depth exposure value setting, not in AE mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_depth_gain</span></code> : Frame 0 depth gain value setting, not in AE mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_ir_brightness</span></code> : Frame 0 ir gain value setting.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_ir_ae_max_exposure</span></code> : Frame 0 ir maximum exposure value setting in AE (auto exposure).</p></li>
|
||||
</ul>
|
||||
<p><strong>interleave laser</strong></p>
|
||||
<p>When the <code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> parameter is set to <code class="docutils literal notranslate"><span class="pre">laser</span></code> and <code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span> </code>is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, interleave laser will be enabled</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_laser_control</span></code> : Frame 1 laser switch settings.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_depth_exposure</span></code> : Frame 1 depth exposure value setting, not in AE mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_depth_gain</span></code> : Frame 1 depth gain value setting, not in AE mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_ir_brightness</span></code> : Frame 1 ir gain value setting.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_ir_ae_max_exposure</span></code> : Frame 1 ir maximum exposure value setting in AE (auto exposure).</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_laser_control</span></code> : Frame 0 laser switch settings.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_depth_exposure</span></code> : Frame 0 depth exposure value setting, not in AE mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_depth_gain</span></code> : Frame 0 depth gain value setting, not in AE mode.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_ir_brightness</span></code> : Frame 0 ir gain value setting.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_ir_ae_max_exposure</span></code> : Frame 0 ir maximum exposure value setting in AE (auto exposure).</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="run-the-launch">
|
||||
<h2><span class="section-number">5.3.5.2. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||||
<p>Setting the interleave_ae parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Example Visualization</strong></p>
|
||||
<p><img alt="Depth Point Cloud Visualization" src="../../../_images/interleave_ae0.jpeg" /></p>
|
||||
<p><img alt="Depth Point Cloud Visualization" src="../../../_images/interleave_ae1.jpeg" /></p>
|
||||
</section>
|
||||
<section id="multi-camera-synced-interleave-ae">
|
||||
<h2><span class="section-number">5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<p>Please refer to <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> and <a class="reference external" href="#parameter-introduction">Parameter Introduction</a></p>
|
||||
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|
||||
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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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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#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#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
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<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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<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-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>
|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
|
||||
</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"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
|
||||
</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>
|
||||
|
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<li class="breadcrumb-item active"><span class="section-number">5.3.7. </span>Net_camera</li>
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<div itemprop="articleBody">
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<section id="net-camera">
|
||||
<h1><span class="section-number">5.3.7. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>This section describes how to use Net camera in OrbbecSDK_ROS2.Currently, only Femto_Mega, Gemini 335Le and Gemini 435Le devices are supported, and other Net devices will be supported in the near future.</p>
|
||||
</div></blockquote>
|
||||
<section id="femto-mega-gemini-435le">
|
||||
<h2><span class="section-number">5.3.7.1. </span>Femto Mega & Gemini 435Le<a class="headerlink" href="#femto-mega-gemini-435le" title="Link to this heading"></a></h2>
|
||||
<p><strong>Parameter Introduction</strong></p>
|
||||
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> is set to true, which will automatically enumerate network devices.</p>
|
||||
<p>If you do not want to automatically enumerate network devices,you can set <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> to false, <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the device’s IP address, and <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> : Enable automatically enumerate network devices.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> : Setting net device’s IP address.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> : Setting net device’s port.Usually, you can set it to 8090.</p></li>
|
||||
</ul>
|
||||
<p><strong>Single Net camera</strong></p>
|
||||
<blockquote>
|
||||
<div><p>If you need to run Gemini 435Le, you only need to replace <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py </a>in the run command with <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py">gemini435_le.launch.py</a></p>
|
||||
</div></blockquote>
|
||||
<p>For <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> as an example:</p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>automatically enumerate network devices:</strong></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>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong>Specify IP address to start the device:</strong></p></li>
|
||||
</ul>
|
||||
<p>Note: <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> needs to be changed to the IP address of the device, here it is 192.168.1.10</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>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span>net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="gemini-335le">
|
||||
<h2><span class="section-number">5.3.7.2. </span>Gemini 335Le<a class="headerlink" href="#gemini-335le" title="Link to this heading"></a></h2>
|
||||
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> must be set to true, set <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the IP address of the device, and set <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> : Enable automatically enumerate network devices.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> : Setting net device’s IP address.</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> : Setting net device’s port.Usually, you can set it to 8090.</p></li>
|
||||
</ul>
|
||||
<p><strong>Single Net camera</strong></p>
|
||||
<p>For <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> as an example:</p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>automatically enumerate network devices:</strong></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>gemini_330_series.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong>Specify IP address to start the device:</strong></p></li>
|
||||
</ul>
|
||||
<p>Note: <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> needs to be changed to the IP address of the device, here it is 192.168.1.10</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>enumerate_net_device:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span>net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
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|
||||
<section id="multi-net-camera">
|
||||
<h2><span class="section-number">5.3.7.3. </span>Multi Net camera<a class="headerlink" href="#multi-net-camera" title="Link to this heading"></a></h2>
|
||||
<p>For <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py">multi_net_camera.launch.py</a> as an example:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_net_camera.launch.py
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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-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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||||
<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>
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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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<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>
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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-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../performance/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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|
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<li class="toctree-l4"><a class="reference internal" href="../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="../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>
|
||||
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|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><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 current"><a class="current reference internal" href="#">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & 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>
|
||||
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|
||||
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||||
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||||
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||||
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<li class="toctree-l1"><a class="reference internal" href="../../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../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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<section id="predefined-presets">
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<h1><span class="section-number">5.3.6. </span>Predefined presets<a class="headerlink" href="#predefined-presets" title="Link to this heading"></a></h1>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>Preset</th>
|
||||
<th>Features</th>
|
||||
<th>Recommended use cases</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>Default</td>
|
||||
<td>- Best visual perception``- Overall good performance in accuracy, fill rate, tiny objects, etc.</td>
|
||||
<td>- Generic <code><br></code>- Robotics</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Hand</td>
|
||||
<td>- Clear hand and finger edges</td>
|
||||
<td>- Gesture recognition</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>High Accuracy</td>
|
||||
<td>- Depth of high confidence <code><br></code>- Barely noise depth values <code><br></code>- Lower fill rate</td>
|
||||
<td>- Collision avoidance <code><br></code>- Object scanning</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>High Density</td>
|
||||
<td>- Higher fill rate <code><br></code>- More tiny objects <code><br></code>- May suffer from noise depth values</td>
|
||||
<td>- Object recognition <code><br></code>- Pick & place <code><br></code>- Foreground & background animation</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Medium Density</td>
|
||||
<td>- Balanced performance in fill rate and accuracy <code><br></code>- In comparison to Default: lower fill rate, better edge quality</td>
|
||||
<td>- Generic and alternative to Default</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Custom</td>
|
||||
<td>- User defined Preset <code><br></code>- Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc.</td>
|
||||
<td>- Better depth performance achieved using customized configurations in comparison to using predefined presets <code><br></code>- For well-established custom configurations</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>Choose the appropriate preset name based on your specific use case and set it as the value for the <code class="docutils literal notranslate"><span class="pre">device_preset</span></code>
|
||||
parameter.</p>
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