5. Advanced Guide

This chapter covers advanced features of the SDK, including multi-camera usage, performance tuning, and special configuration modes.

5.1. Performance & Optimization

• 5.1.1. Ob_benchmark tool
  • 5.1.1.1. Tool Configuration (start_benchmark_params.json)
  • 5.1.1.2. Camera configuration (launch files)
  • 5.1.1.3. Running the ob_benchmark tool
  • 5.1.1.4. Output Data Files
• 5.1.2. Reducing CPU Usage with Orbbec ROS Package
  • 5.1.2.1. Recommended Settings for Lower CPU Usage
  • 5.1.2.2. Launch Files Used for Testing
  • 5.1.2.3. Test environment
  • 5.1.2.4. Test Setup
  • 5.1.2.5. Test Results
  • 5.1.2.6. Further Optimizationa
• 5.1.3. Efficient intra-process communication:
  • 5.1.3.1. Introduction
  • 5.1.3.2. Example
• 5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2
  • 5.1.4.1. Adjusting System Parameters
  • 5.1.4.2. Fast DDS Configuration

5.2. Multi-Camera

• 5.2.1. Multi-Camera
  • 5.2.1.1. No Data Stream from Multiple Cameras
  • 5.2.1.2. Image topic frame rate too low from Multiple Cameras
• 5.2.2. Multi_camera synced Instructions
  • 5.2.2.1. Setup instructions
  • 5.2.2.2. Checking camera port with OrbbecSDK_ROS2
  • 5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration
  • 5.2.2.4. Run the following command to start the multi-camera synced
• 5.2.3. Multi_camera_synced_verification_tool
  • 5.2.3.1. Directory Structure
  • 5.2.3.2. Preparation for operation
  • 5.2.3.3. Run this example
  • 5.2.3.4. Files that need to be changed
• 5.2.4. GMSL_camera
  • 5.2.4.1. Single GMSL camera
  • 5.2.4.2. Multi GMSL camera
  • 5.2.4.3. Multi GMSL camera synced

5.3. Configuration & Modes

• 5.3.1. Aligning Depth to Color in ROS 2
  • 5.3.1.1. Commands to Align and View Depth and Color Images
  • 5.3.1.2. Selecting Topics in RViz2
  • 5.3.1.3. Example of Depth to Color Overlay
• 5.3.2. Configuration of depth NFOV and WFOV modes
• 5.3.3. Depth work mode switch
• 5.3.4. Disparity_search_offset
  • 5.3.4.1. Function Introduction
  • 5.3.4.2. Parameter Introduction
  • 5.3.4.3. Run the launch
• 5.3.5. Using interleave_ae with Gemini330 series cameras
  • 5.3.5.1. Parameter Introduction
  • 5.3.5.2. Run the launch
  • 5.3.5.3. Multi_camera_synced + Interleave_ae
• 5.3.6. Predefined presets
• 5.3.7. Net_camera
  • 5.3.7.1. Femto Mega & Gemini 435Le
  • 5.3.7.2. Gemini 335Le
  • 5.3.7.3. Multi Net camera