OrbbecSDK_ROS2/orbbec_camera/examples/interleave_ae_mode

Using interleave_ae with Gemini330 series cameras

This section describes how to use interleave_ae in Gemini 330 series cameras (minimum camera firmware version 1.4.00)

Parameter Introduction

The interleave_ae related parameters are set in gemini_330_series.launch.py

• interleave_ae_mode : Set laser or hdr interleave.

• interleave_frame_enable : enable interleave frame mode.

• interleave_skip_enable : enable skip frame mode.

• interleave_skip_index : Set 0 for skip pattern ir, set 1 for skip flood ir.

interleave hdr

When the interleave_ae_mode parameter is set to hdr and interleave_frame_enable is set to true, interleave hdr will be enabled

• hdr_index1_laser_control : Frame 1 laser switch settings.

• hdr_index1_depth_exposure : Frame 1 depth exposure value setting, not in AE mode.

• hdr_index1_depth_gain : Frame 1 depth gain value setting, not in AE mode.

• hdr_index1_ir_brightness : Frame 1 ir gain value setting.

• hdr_index1_ir_ae_max_exposure : Frame 1 ir maximum exposure value setting in AE (auto exposure).

• hdr_index0_laser_control: Frame 0 laser switch settings.

• hdr_index0_depth_exposure: Frame 0 depth exposure value setting, not in AE mode.

• hdr_index0_depth_gain : Frame 0 depth gain value setting, not in AE mode.

• hdr_index0_ir_brightness : Frame 0 ir gain value setting.

• hdr_index0_ir_ae_max_exposure : Frame 0 ir maximum exposure value setting in AE (auto exposure).

interleave laser

When the interleave_ae_mode parameter is set to laser and interleave_frame_enable is set to true, interleave laser will be enabled

• laser_index1_laser_control : Frame 1 laser switch settings.

• laser_index1_depth_exposure : Frame 1 depth exposure value setting, not in AE mode.

• laser_index1_depth_gain : Frame 1 depth gain value setting, not in AE mode.

• laser_index1_ir_brightness : Frame 1 ir gain value setting.

• laser_index1_ir_ae_max_exposure : Frame 1 ir maximum exposure value setting in AE (auto exposure).

• laser_index0_laser_control : Frame 0 laser switch settings.

• laser_index0_depth_exposure : Frame 0 depth exposure value setting, not in AE mode.

• laser_index0_depth_gain : Frame 0 depth gain value setting, not in AE mode.

• laser_index0_ir_brightness : Frame 0 ir gain value setting.

• laser_index0_ir_ae_max_exposure : Frame 0 ir maximum exposure value setting in AE (auto exposure).

Run the launch

Setting the interleave_ae parameter,colcon build again and run launch

ros2 launch orbbec_camera gemini_330_series.launch.py

Example Visualization

Multi_camera_synced + Interleave_ae

Please refer to multi_camera_synced and Parameter Introduction