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5.3.5. 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)

5.3.5.1. Parameter Introduction

The interleave_ae related parameters are set in gemini_330_series.launch.

  • 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).

5.3.5.2. Run the launch

Setting the interleave_ae parameter,colcon build again and run launch

roslaunch orbbec_camera gemini_330_series.launch

Example Visualization

Depth Point Cloud Visualization

Depth Point Cloud Visualization

5.3.5.3. Multi_camera_synced + Interleave_ae

Please refer to multi_camera_synced and Parameter Introduction