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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 &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
<li class="toctree-l1"><a class="reference internal" href="5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega &amp; Gemini 435Le</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
<li class="toctree-l1"><a class="reference internal" href="6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega &amp; Gemini 435Le</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
<li class="toctree-l2"><a class="reference internal" href="6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l2"><a class="reference internal" href="6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
<li class="toctree-l2"><a class="reference internal" href="6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l1"><a class="reference internal" href="7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
<li class="toctree-l2"><a class="reference internal" href="7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l2"><a class="reference internal" href="7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
<li class="toctree-l2"><a class="reference internal" href="7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
</ul>
</li>
</ul>
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