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OrbbecSDK V2 ROS2 Wrapper
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<li class="toctree-l1 current"><a class="reference internal" href="overview.html">1. Overview</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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<li class="toctree-l4"><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>
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<li class="toctree-l4"><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>
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<li class="toctree-l4"><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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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
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<li class="toctree-l4"><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>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
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<li class="toctree-l4"><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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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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<li class="toctree-l3"><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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</ul>
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</li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
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<li class="toctree-l4"><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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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
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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 & Diagnostics</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
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<li class="toctree-l4"><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>
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<li class="toctree-l4"><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>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
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<li class="toctree-l4"><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>
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<li class="toctree-l4"><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>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><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>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><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>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><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>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
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<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>
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||
<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/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>
|
||
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & 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-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||
<li class="toctree-l4"><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-l4"><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-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
||
<li class="toctree-l3"><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-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
||
<li class="toctree-l3"><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-l3"><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-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||
<li class="toctree-l4"><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-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
||
<li class="toctree-l3"><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-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
||
<li class="toctree-l4"><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-l4"><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-l4"><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-l4"><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-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
||
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
||
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
|
||
<li class="toctree-l3"><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-l3"><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-l3"><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-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
|
||
</ul>
|
||
</li>
|
||
</ul>
|
||
|
||
</div>
|
||
</div>
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</nav>
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<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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</nav>
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<div class="rst-content">
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<div role="navigation" aria-label="Page navigation">
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<ul class="wy-breadcrumbs">
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="overview.html"><span class="section-number">1. </span>Overview</a></li>
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<li class="breadcrumb-item active"><span class="section-number">1.2. </span>Orbbec SDK Overview</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/source/1_overview/orbbecsdk_overview.md.txt" rel="nofollow"> View page source</a>
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<hr/>
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</div>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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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="orbbec-sdk-overview">
|
||
<h1><span class="section-number">1.2. </span>Orbbec SDK Overview<a class="headerlink" href="#orbbec-sdk-overview" title="Link to this heading"></a></h1>
|
||
<p>This section introduces the Orbbec SDK in C++. Its architecture and concepts are consistent with those of the Python Wrapper.</p>
|
||
<section id="terms">
|
||
<h2><span class="section-number">1.2.1. </span>Terms<a class="headerlink" href="#terms" title="Link to this heading"></a></h2>
|
||
<table border="1" class="docutils">
|
||
<thead>
|
||
<tr>
|
||
<th>ID</th>
|
||
<th>Name</th>
|
||
<th>Explain</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr>
|
||
<td>1</td>
|
||
<td>USB</td>
|
||
<td>Universal Serial Bus</td>
|
||
</tr>
|
||
<tr>
|
||
<td>2</td>
|
||
<td>UVC</td>
|
||
<td>USB Video Class</td>
|
||
</tr>
|
||
<tr>
|
||
<td>3</td>
|
||
<td>Firmware</td>
|
||
<td>Firmware of 3D camera</td>
|
||
</tr>
|
||
<tr>
|
||
<td>4</td>
|
||
<td>Disparity</td>
|
||
<td>Disparity is to observe the direction difference of the same target from two points with a certain distance.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>5</td>
|
||
<td>D2D (Disparity to depth)</td>
|
||
<td>Disparity to depth is an image processing technique used to convert disparity information into depth information.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>6</td>
|
||
<td>Hardware D2D</td>
|
||
<td>Disparity to depth is implemented internally in the device, without occupying the computational power of the host computer.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>7</td>
|
||
<td>Software D2D</td>
|
||
<td>Disparity to depth, implemented in Orbbec SDK</td>
|
||
</tr>
|
||
<tr>
|
||
<td>8</td>
|
||
<td>Depth point cloud</td>
|
||
<td>Depth point cloud, the coordinates of points in a three-dimensional world coordinate system, can be transformed into a point cloud using the intrinsic parameters of a Depth camera.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>9</td>
|
||
<td>RGBD point cloud</td>
|
||
<td>Point cloud with overlaid RGB information</td>
|
||
</tr>
|
||
<tr>
|
||
<td>10</td>
|
||
<td>D2C</td>
|
||
<td>The translation of "Depth to Color" is a feature that performs per-pixel geometric transformation on a depth image. Its result is aligning the depth image with its corresponding color image through the D2C transformation, allowing us to locate the depth information of a color pixel by using the same image coordinate position of that pixel in the transformed depth image. After the D2C transformation, we generate a depth image of the same size as the target color image, where the image content represents depth data in the coordinate system of the color camera. In other words, it reconstructs a depth image "captured" using the origin and dimensions of the color camera, where each pixel matches the corresponding pixel coordinates of the color camera.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>11</td>
|
||
<td>Hardware D2C</td>
|
||
<td>Hardware D2C refers to the functionality of performing Depth to Color transformation within the camera itself, with the camera directly outputting the result of the D2C transformation.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>12</td>
|
||
<td>Software D2C</td>
|
||
<td>Performing D2C computation on the host computer side using an SDK.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>13</td>
|
||
<td>Frame aggregation (FrameSet)</td>
|
||
<td>Combining Depth, IR, and Color frames into a Frameset and invoking it through a pipeline.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>14</td>
|
||
<td>C2D</td>
|
||
<td>The translation of "Color to Depth" is a feature that performs per-pixel geometric transformation on a color image. Its result is aligning the color image with its corresponding depth image through the C2D transformation.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>15</td>
|
||
<td>MetaData</td>
|
||
<td>Frame metadata is a set of parameters (or attributes) that provide a snapshot of the sensor configuration and/or system state present during the frame’s generation.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>16</td>
|
||
<td>HDR</td>
|
||
<td>High Dynamic Range (HDR) imaging allows imaging systems to capture images in extremely dark and bright scenes alike. We propose a software solution running on the host CPU to implement this feature. It utilizes data from two consecutive frames and directly synthesizes these two depth images, thereby enhances the dynamic range of 16-bit depth images.</td>
|
||
</tr>
|
||
<tr>
|
||
<td>17</td>
|
||
<td>LDP</td>
|
||
<td>Laser close-range protection</td>
|
||
</tr>
|
||
</tbody>
|
||
</table></section>
|
||
<section id="orbbec-sdk-v2-architecture-overview">
|
||
<h2><span class="section-number">1.2.2. </span>Orbbec SDK v2 Architecture Overview<a class="headerlink" href="#orbbec-sdk-v2-architecture-overview" title="Link to this heading"></a></h2>
|
||
<p><img alt="OrbbecSDK v2 Soft Architecture" src="../../_images/Soft_Architecture.png" /></p>
|
||
<ul class="simple">
|
||
<li><p>Application</p></li>
|
||
</ul>
|
||
<p>OrbbecViewer, Sample, and User Application Implementation.</p>
|
||
<ul class="simple">
|
||
<li><p>Interfaces and Encapsulation Layer</p></li>
|
||
</ul>
|
||
<p>OrbbecSDK Interface Encapsulation and Wrapper Encapsulation.</p>
|
||
<ul class="simple">
|
||
<li><p>High-level Layer</p></li>
|
||
</ul>
|
||
<p>HighLevel encapsulates the core business components and provides interfaces to the outside using a pipeline.</p>
|
||
<ul class="simple">
|
||
<li><p>Basic business layer</p></li>
|
||
</ul>
|
||
<p>The realization of the core business logic framework.</p>
|
||
<ul class="simple">
|
||
<li><p>Platform abstraction layer</p></li>
|
||
</ul>
|
||
<p>Cross-platform components abstract operating system differences and provide a unified access interface.</p>
|
||
<ul class="simple">
|
||
<li><p>Platform implementation layer</p></li>
|
||
</ul>
|
||
<p>The driver implementation of each platform.</p>
|
||
</section>
|
||
<section id="sdk-concept-overview">
|
||
<h2><span class="section-number">1.2.3. </span>SDK Concept Overview<a class="headerlink" href="#sdk-concept-overview" title="Link to this heading"></a></h2>
|
||
<ul class="simple">
|
||
<li><p>Context</p></li>
|
||
</ul>
|
||
<p>Context which provides a set of settings includes settings such as device state change callbacks, log levels, and more. The Context can access multiple devices.</p>
|
||
<ul class="simple">
|
||
<li><p>Device</p></li>
|
||
</ul>
|
||
<p>One actual hardware device corresponds to one Device object, which is used to obtain relevant information of the device and control its attributes.</p>
|
||
<ul class="simple">
|
||
<li><p>Pipeline</p></li>
|
||
</ul>
|
||
<p>The HighLevel corresponding object encapsulates the interface for quick access to the SDK. It has simple functions that allow users to quickly get started and use the SDK.</p>
|
||
<ul class="simple">
|
||
<li><p>Config</p></li>
|
||
</ul>
|
||
<p>Provides configuration for enabling data streams, alignment modes, and frame aggregation modes, It is used to control the behavior of the data output.</p>
|
||
<ul class="simple">
|
||
<li><p>StreamProfile</p></li>
|
||
</ul>
|
||
<p>Stream configuration that defines parameters such as resolution, frame rate, and encoding format, It also provides management of camera parameters.</p>
|
||
<ul class="simple">
|
||
<li><p>Frame</p></li>
|
||
</ul>
|
||
<p>Represents a frame of data in the Stream, and also contains relevant information about that frame of data, such as timestamp, type, etc.</p>
|
||
<ul class="simple">
|
||
<li><p>Filter</p></li>
|
||
</ul>
|
||
<p>It mainly refers to some algorithmic processing modules for the composite stream FrameSet, such as point cloud algorithm processing.</p>
|
||
<ul class="simple">
|
||
<li><p>Record</p></li>
|
||
</ul>
|
||
<p>Recording functionality that captures data streams and saves them as files for later analysis or playback.</p>
|
||
<ul class="simple">
|
||
<li><p>Playback</p></li>
|
||
</ul>
|
||
<p>Playback functionality that plays recorded files and supports control over playback speed and other related parameters.</p>
|
||
</section>
|
||
<section id="sdk-programming-model">
|
||
<h2><span class="section-number">1.2.4. </span>SDK Programming Model<a class="headerlink" href="#sdk-programming-model" title="Link to this heading"></a></h2>
|
||
<p>Here is the C++ programming logic flow chart. Python’s programming logic is the same as it.</p>
|
||
<ul class="simple">
|
||
<li><p>Standard Flowchart:</p></li>
|
||
</ul>
|
||
<p><img alt="image.png" src="../../_images/Standard_Flowchart.png" /></p>
|
||
<p>The standard flowchart demonstrates how to create a device from the device list, set and get parameters, and apply post-processing filters.</p>
|
||
<ul class="simple">
|
||
<li><p>Flowchart using default configuration (stream acquisition based on the default settings in OrbbecSDKConfig.xml):</p></li>
|
||
</ul>
|
||
<p><img alt="image" src="../../_images/Default_Flowchart.png" /></p>
|
||
</section>
|
||
</section>
|
||
|
||
|
||
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|
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
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<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
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