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OrbbecSDK V2 ROS2 Wrapper
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l3"><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>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l3"><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-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. 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 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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<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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</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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</ul>
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</li>
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<li class="toctree-l1 current"><a class="reference internal" href="advanced_guide.html">5. Advanced Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</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="benchmark.html">5.2. Ob_benchmark tool</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="benchmark.html#output-data-files">5.2.1.4. Output Data Files</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="building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</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="configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l2"><a class="reference internal" href="depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">5.6. Disparity_search_offset</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#function-introduction">5.6.1. Function Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#parameter-introduction">5.6.2. Parameter Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#run-the-launch">5.6.3. Run the launch</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="efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
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<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
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<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</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="fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
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<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
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<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</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="fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
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<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</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="gmsl_camera.html">5.9. GMSL_camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
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<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
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<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
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<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</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="interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</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="interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l2"><a class="reference internal" href="lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l2"><a class="reference internal" href="multi_camera.html">5.12. Multi-Camera</a><ul>
|
||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||
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|
||
</li>
|
||
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|
||
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|
||
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||
</ul>
|
||
</li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
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</ul>
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|
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|
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<li class="toctree-l2"><a class="reference internal" href="net_camera.html">5.15. Net_camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||
</ul>
|
||
</li>
|
||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
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</ul>
|
||
</li>
|
||
</ul>
|
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="predefined_presets.html">5.17. Predefined presets</a></li>
|
||
</ul>
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</li>
|
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<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
|
||
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<section id="disparity-search-offset">
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<h1><span class="section-number">5.6. </span>Disparity_search_offset<a class="headerlink" href="#disparity-search-offset" title="Link to this heading"></a></h1>
|
||
<blockquote>
|
||
<div><p>This section describes how to use the disparity_search_offset function in the Gemini330 series cameras (minimum camera firmware version <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>).Disparity_search_offset is effective only for1280×720, 1280×800 and 640×400 resolutions of depth stream.</p>
|
||
</div></blockquote>
|
||
<section id="function-introduction">
|
||
<h2><span class="section-number">5.6.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
|
||
<p>The definition of disparity search range: For any pixel <em>(u_l, v)</em> in the left image, by default, the corresponding disparity search range in the right image is <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>, where the disparity search length is 256 and the maximum integer disparity is 255. If the starting point of the search is adjusted to <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>, the offset is defined as the disparity shift. Therefore, our disparity search range configuration includes both the disparity search length and the search position offset (which can also be referred to as the disparity shift).</p>
|
||
<p><img alt="Depth Point Cloud Visualization" src="../../_images/search_offset0.png" /></p>
|
||
</section>
|
||
<section id="parameter-introduction">
|
||
<h2><span class="section-number">5.6.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
|
||
<p>The disparity_search_offset related parameters are set in <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
|
||
<ul class="simple">
|
||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code> : Disparity search length,can only be set to 64, 128 and 256.</p></li>
|
||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_search_offset</span></code> : Disparity search offset value,Disparity search offset value, can be set from 0 to 127.</p></li>
|
||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_offset_config</span></code> : Disparity search offset interleave frames.</p></li>
|
||
<li><p><code class="docutils literal notranslate"><span class="pre">offset_index0</span></code> : Frame 0 disparity search offset value.</p></li>
|
||
<li><p><code class="docutils literal notranslate"><span class="pre">offset_index1</span></code> : Frame 1 disparity search offset value.</p></li>
|
||
</ul>
|
||
<table border="1" class="docutils">
|
||
<thead>
|
||
<tr>
|
||
<th style="text-align: center;">disparity range mode</th>
|
||
<th style="text-align: center;">disparity search offset</th>
|
||
<th style="text-align: center;">Minimum depth of inclined wall (mm)</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr>
|
||
<td style="text-align: center;">64</td>
|
||
<td style="text-align: center;">85</td>
|
||
<td style="text-align: center;">Gemini 335L 388-406</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align: center;">64</td>
|
||
<td style="text-align: center;">127</td>
|
||
<td style="text-align: center;">Gemini 335L 302-317</td>
|
||
</tr>
|
||
</tbody>
|
||
</table><table border="1" class="docutils">
|
||
<thead>
|
||
<tr>
|
||
<th style="text-align: center;">disparity range mode</th>
|
||
<th style="text-align: center;">disparity search offset</th>
|
||
<th style="text-align: center;">Minimum depth of inclined wall (mm)</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr>
|
||
<td style="text-align: center;">128</td>
|
||
<td style="text-align: center;">0</td>
|
||
<td style="text-align: center;">Gemini 335 233-249<br />Gemini 335L 453-475</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align: center;">128</td>
|
||
<td style="text-align: center;">45</td>
|
||
<td style="text-align: center;">Gemini 335 172-184<br />Gemini 335L 334-349</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align: center;">128</td>
|
||
<td style="text-align: center;">127</td>
|
||
<td style="text-align: center;">Gemini 335 117-125<br />Gemini 335L 226-236</td>
|
||
</tr>
|
||
</tbody>
|
||
</table><table border="1" class="docutils">
|
||
<thead>
|
||
<tr>
|
||
<th style="text-align: center;">disparity range mode</th>
|
||
<th style="text-align: center;">disparity search offset</th>
|
||
<th style="text-align: center;">Minimum depth of inclined wall (mm)</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody>
|
||
<tr>
|
||
<td style="text-align: center;">256</td>
|
||
<td style="text-align: center;">85</td>
|
||
<td style="text-align: center;">Gemini 335L 169-178</td>
|
||
</tr>
|
||
<tr>
|
||
<td style="text-align: center;">256</td>
|
||
<td style="text-align: center;">127</td>
|
||
<td style="text-align: center;">Gemini 335L 151-158</td>
|
||
</tr>
|
||
</tbody>
|
||
</table></section>
|
||
<section id="run-the-launch">
|
||
<h2><span class="section-number">5.6.3. </span>Run the launch<a class="headerlink" href="#run-the-launch" title="Link to this heading"></a></h2>
|
||
<p>Setting the disparity_search_offset parameter,<code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> again and run launch</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>gemini_330_series.launch.py
|
||
</pre></div>
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