5. Advanced Guide

This chapter covers advanced features of the SDK, including multi-camera synchronization, depth-color alignment, performance tuning, and more.

• 5.1. Aligning Depth to Color in ROS 2
  • 5.1.1. Commands to Align and View Depth and Color Images
  • 5.1.2. Selecting Topics in RViz2
  • 5.1.3. Example of Depth to Color Overlay
• 5.2. Ob_benchmark tool
  • 5.2.1. Usage Instructions
• 5.3. Building a Debian Package
  • 5.3.1. Preparing the Environment
  • 5.3.2. Configuring ROS Dependencies
  • 5.3.3. Building the Package
• 5.4. Configuration of depth NFOV and WFOV modes
• 5.5. Depth work mode switch
• 5.6. Disparity_search_offset
  • 5.6.1. Function Introduction
  • 5.6.2. Parameter Introduction
  • 5.6.3. Run the launch
• 5.7. Efficient intra-process communication:
  • 5.7.1. Example
• 5.8. Fast DDS Optimization for Orbbec Camera with ROS2
  • 5.8.1. Adjusting System Parameters
  • 5.8.2. Fast DDS Configuration
• 5.9. GMSL_camera
  • 5.9.1. Single GMSL camera
  • 5.9.2. Multi GMSL camera
  • 5.9.3. Multi GMSL camera synced
• 5.10. Using interleave_ae with Gemini330 series cameras
  • 5.10.1. Parameter Introduction
  • 5.10.2. Run the launch
  • 5.10.3. Multi_camera_synced + Interleave_ae
• 5.11. Reducing CPU Usage with Orbbec ROS Package
  • 5.11.1. Recommended Settings for Lower CPU Usage
  • 5.11.2. Launch Files Used for Testing
  • 5.11.3. Test environment
  • 5.11.4. Test Setup
  • 5.11.5. Test Results
  • 5.11.6. Further Optimizationa
• 5.12. Multi-Camera
  • 5.12.1. No Data Stream from Multiple Cameras
  • 5.12.2. Image topic frame rate too low from Multiple Cameras
• 5.13. Multi_camera synced Instructions
  • 5.13.1. Setup instructions
• 5.14. Multi_camera_synced_verification_tool
  • 5.14.1. Directory Structure
  • 5.14.2. Preparation for operation
  • 5.14.3. Run this example
  • 5.14.4. Files that need to be changed
• 5.15. Net_camera
  • 5.15.1. Femto Mega & Gemini 435Le
  • 5.15.2. Gemini 335Le
  • 5.15.3. Multi Net camera
• 5.16. Enabling and Visualizing Point Cloud in ROS 2
  • 5.16.1. Enabling Depth Point Cloud
  • 5.16.2. Enabling Colored Point Cloud
• 5.17. Predefined presets