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<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><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-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><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-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><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-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><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-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><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-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture">4.2.6. Data Capture</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#device-specific">4.2.6.1. Device-Specific</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><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-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><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-l5"><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-l4"><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-l5"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><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-l5"><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-l5"><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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color</a><ul>
<li class="toctree-l5"><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-l5"><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-l5"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><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-l5"><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-l5"><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-l4"><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-l5"><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-l5"><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-l5"><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-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Device default</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-330-gemini-330l-gemini-335-gemini-335l">5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-336-gemini-336l">5.3.6.2. Gemini 336 / Gemini 336L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-2">5.3.6.3. Gemini 2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-2l">5.3.6.4. Gemini 2L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-305">5.3.6.5. Gemini 305</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#extended-presets">5.3.6.6. Extended presets</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="#how-to-collect-and-save-logs">8.3. How to Collect and Save Logs</a></li>
<li class="toctree-l3"><a class="reference internal" href="#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l3"><a class="reference internal" href="#the-image-does-not-reach-the-preset-frame-rate">8.8. The image does not reach the preset frame rate</a></li>
<li class="toctree-l3"><a class="reference internal" href="#issues-related-to-soft-trigger-mode">8.9. Issues related to soft trigger mode</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">4.2. Using IMU Data</a></li>
</ul>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="frequently-asked-questions">
<h1><span class="section-number">8. </span>Frequently Asked Questions<a class="headerlink" href="#frequently-asked-questions" title="Link to this heading"></a></h1>
<section id="unexpected-crash">
<h2><span class="section-number">8.1. </span>Unexpected Crash<a class="headerlink" href="#unexpected-crash" title="Link to this heading"></a></h2>
<p>If the camera node crashes unexpectedly, it will generate a crash log in the current running directory: <code class="docutils literal notranslate"><span class="pre">Log/camera_crash_stack_trace_xx.log</span></code>. Please send this log to the support team or submit it to a GitHub issue for further assistance.</p>
</section>
<section id="no-data-stream-from-multiple-cameras">
<h2><span class="section-number">8.2. </span>No Data Stream from Multiple Cameras<a class="headerlink" href="#no-data-stream-from-multiple-cameras" title="Link to this heading"></a></h2>
<p><strong>Insufficient Power Supply</strong>:</p>
<ul class="simple">
<li><p>Ensure that each camera is connected to a separate hub.</p></li>
<li><p>Use a powered hub to provide sufficient power to each camera.</p></li>
</ul>
<p><strong>High Resolution</strong>:</p>
<ul class="simple">
<li><p>Try lowering the resolution to resolve data stream issues.</p></li>
</ul>
<p><strong>Increase usbfs_memory_mb Value</strong>:</p>
<ul class="simple">
<li><p>Increase the <code class="docutils literal notranslate"><span class="pre">usbfs_memory_mb</span></code> value to 128MB (this is a reference value and can be adjusted based on your system’s needs) by running the following command:</p></li>
</ul>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span> <span class="n">echo</span> <span class="mi">128</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
</pre></div>
</div>
<ul class="simple">
<li><p>To make this change permanent, check <a class="reference external" href="https://github.com/OpenKinect/libfreenect2/issues/807">this link</a>.</p></li>
</ul>
</section>
<section id="how-to-collect-and-save-logs">
<h2><span class="section-number">8.3. </span>How to Collect and Save Logs<a class="headerlink" href="#how-to-collect-and-save-logs" title="Link to this heading"></a></h2>
<p><strong>1. SDK debug logs</strong></p>
<p>Set the launch parameter <code class="docutils literal notranslate"><span class="pre">log_level</span></code> to <code class="docutils literal notranslate"><span class="pre">debug</span></code>. After running, the SDK will generate log files in the <code class="docutils literal notranslate"><span class="pre">Log/</span></code> folder under the current project directory. If you want a more recognizable file name for this test, you can set the parameter <code class="docutils literal notranslate"><span class="pre">log_file_name</span></code>.</p>
<ul class="simple">
<li><p>SDK logs are appended to the same file: multiple launches will continue writing into the same log file.</p></li>
<li><p>Recommendation: before packaging logs to send to technical support, delete old log files, then reproduce the issue and collect new logs. This keeps the logs cleaner and makes troubleshooting more accurate.</p></li>
</ul>
<p><strong>2. ROS 2 logs (<code class="docutils literal notranslate"><span class="pre">~/.ros/log</span></code>)</strong></p>
<p>In the launch file, set the node (or composable node container) parameter <code class="docutils literal notranslate"><span class="pre">output</span></code> to <code class="docutils literal notranslate"><span class="pre">&quot;log&quot;</span></code> to save ROS 2 logs locally.</p>
<ul class="simple">
<li><p>After setting <code class="docutils literal notranslate"><span class="pre">output=&quot;log&quot;</span></code>, ROS 2 logs will be stored in the <code class="docutils literal notranslate"><span class="pre">~/.ros/log/</span></code> directory.</p></li>
<li><p>When submitting an issue, please package both the SDK logs under the <code class="docutils literal notranslate"><span class="pre">Log/</span></code> directory and the corresponding ROS 2 logs under <code class="docutils literal notranslate"><span class="pre">~/.ros/log/</span></code> for the same time period.</p></li>
</ul>
</section>
<section id="why-are-there-so-many-launch-files">
<h2><span class="section-number">8.4. </span>Why Are There So Many Launch Files?<a class="headerlink" href="#why-are-there-so-many-launch-files" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Different cameras have varying default resolutions and image formats.</p></li>
<li><p>To simplify usage, each camera has its own launch file.</p></li>
</ul>
</section>
<section id="how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">
<h2><span class="section-number">8.5. </span>How to Launch a Specific Camera When Multiple Cameras Are Connected<a class="headerlink" href="#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected" title="Link to this heading"></a></h2>
<p>While the launch file did not explicitly specify which device to use. In that case, the driver will connect to the default device.</p>
<p>You can check the serial number of your device by running:</p>
<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_devices_node
</pre></div>
</div>
<p>Then launch with the serial number explicitly set, for 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>femto_bolt.launch.py<span class="w"> </span>serial_number:<span class="o">=</span>CL8H741005J
</pre></div>
</div>
</section>
<section id="why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">
<h2><span class="section-number">8.6. </span>Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?<a class="headerlink" href="#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams" title="Link to this heading"></a></h2>
<p>Multi-camera systems place high demands on USB bandwidth and device initialization timing. If multiple camera streams are started or switched simultaneously, it may cause temporary bandwidth congestion, leading to device initialization failures, stream startup errors, or frame drops. To ensure system stability, the following practices are recommended:</p>
<ul>
<li><p><strong>Multi-camera startup phase</strong></p>
<p>When starting multiple cameras, it is recommended to introduce an appropriate delay between each camera startup (e.g., <strong>2 seconds</strong>) to avoid instantaneous bandwidth overload or low-level device initialization conflicts.</p>
</li>
<li><p><strong>Stream enable/disable and mode switching phase</strong></p>
<p>When invoking stream control services (such as <code class="docutils literal notranslate"><span class="pre">set_streams_enable</span></code>, <code class="docutils literal notranslate"><span class="pre">toggle_depth</span></code>, and <code class="docutils literal notranslate"><span class="pre">toggle_color</span></code>), avoid triggering multiple service calls at the same time. Instead, introduce a reasonable interval between operations (e.g., <strong>20 ms</strong>) to ensure reliable stream state transitions.</p>
</li>
</ul>
<p>Following these timing control guidelines can significantly improve the stability of multi-camera systems during startup and runtime, reducing errors and unexpected behavior.</p>
</section>
<section id="femto-bolt-depth-stream-no-data">
<h2><span class="section-number">8.7. </span>femto bolt depth stream no data<a class="headerlink" href="#femto-bolt-depth-stream-no-data" title="Link to this heading"></a></h2>
<p>This module depends on the OpenGL library at runtime. If OpenGL is not installed or the graphics driver is incomplete, the depth stream may output no data. Please make sure to install the necessary OpenGL libraries first (Ubuntu example below):</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>mesa-utils<span class="w"> </span>libgl1-mesa-glx<span class="w"> </span>libglu1-mesa
</pre></div>
</div>
<p>After installation, you can check whether OpenGL is available through the following command:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span>glxinfo<span class="w"> </span>-B
</pre></div>
</div>
</section>
<section id="the-image-does-not-reach-the-preset-frame-rate">
<h2><span class="section-number">8.8. </span>The image does not reach the preset frame rate<a class="headerlink" href="#the-image-does-not-reach-the-preset-frame-rate" title="Link to this heading"></a></h2>
<p>First you need to confirm whether the image does not reach the preset frame rate. There are several ways to view framerate in ROS 2, such as:</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">topic</span> <span class="pre">hz</span></code></p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">rqt</span></code></p></li>
<li><p>Custom tools (such as the <code class="docutils literal notranslate"><span class="pre">benchmark</span></code> tool provided by this ROS package)</p></li>
</ul>
<p>It should be noted that different tools have different statistical methods and QoS configurations, so the frame rate results obtained may be different. When you find that the frame rate is lower than expected, please prioritize whether the error is caused by the frame rate statistics tool itself.</p>
<p>If you confirm that the image frame rate does not reach the preset value, you can try the following troubleshooting steps:</p>
<ol class="simple">
<li><p><strong>Reduce the resolution or frame rate</strong> to determine whether the frame rate is reduced due to USB/network bandwidth limitations;</p></li>
<li><p><strong>Confirm whether the camera firmware version and ROS package version are the latest</strong>. Older versions may have performance or compatibility issues.</p></li>
</ol>
<p>If the above methods still cannot solve the problem, please contact our company <strong>FAE</strong>, or submit an issue in <strong>GitHub Issue</strong> for further support.</p>
</section>
<section id="issues-related-to-soft-trigger-mode">
<h2><span class="section-number">8.9. </span>Issues related to soft trigger mode<a class="headerlink" href="#issues-related-to-soft-trigger-mode" title="Link to this heading"></a></h2>
<ul>
<li><p><strong>Each sensor does not flow out at the same time when the signal is triggered</strong>
Please enable the frame aggregation function and set the parameter <code class="docutils literal notranslate"><span class="pre">frame_aggregate_mode</span></code> to <code class="docutils literal notranslate"><span class="pre">full_frame</span></code> to ensure that multiple sensor data are output synchronously under the same trigger.</p></li>
<li><p><strong>The preset frame rate cannot be reached in auto trigger mode</strong>
When setting <code class="docutils literal notranslate"><span class="pre">software_trigger_period</span></code>, you need to consider the actual open stream frame rate and exposure time. For example, when <code class="docutils literal notranslate"><span class="pre">color_fps</span></code> is set to 10 FPS, <code class="docutils literal notranslate"><span class="pre">software_trigger_period</span></code> cannot be lower than the following calculated value:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>software_trigger_period ≥ 1000000 / fps × N + 2 × expo
</pre></div>
</div>
<p>Among them:</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">fps</span></code>: sensor frame rate</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">N</span></code>: The number of frames collected in a single trigger</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">expo</span></code>: exposure time</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">Unit</span></code>: µs</p></li>
</ul>
<p>If <code class="docutils literal notranslate"><span class="pre">software_trigger_period</span></code> is set too small, the trigger frequency will be limited, resulting in frame loss.</p>
</li>
</ul>
</section>
</section>
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