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5. Advanced Guide

This chapter covers advanced features of the SDK, including multi-camera usage, and special configuration modes.

5.1. Performance & Optimization

• 5.1.1. Reducing CPU Usage with Orbbec ROS Package
  • 5.1.1.1. Recommended Settings for Lower CPU Usage
  • 5.1.1.2. Color Stream Format and Subscription
  • 5.1.1.3. Launch Files Used for Testing
  • 5.1.1.4. Test environment
  • 5.1.1.5. Test Setup
  • 5.1.1.6. Test Results
  • 5.1.1.7. Further Optimizationa
• 5.1.2. Efficient intra-process communication:
  • 5.1.2.1. Introduction
  • 5.1.2.2. Example
• 5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2
  • 5.1.3.1. Adjusting System Parameters
  • 5.1.3.2. Fast DDS Configuration

5.2. Multi-Camera

• 5.2.1. Multi-Camera
  • 5.2.1.1. No Data Stream from Multiple Cameras
  • 5.2.1.2. Image topic frame rate too low from Multiple Cameras
• 5.2.2. Multi_camera synced Instructions
  • 5.2.2.1. Setup instructions
  • 5.2.2.2. Checking camera port with OrbbecSDK_ROS2
  • 5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration
  • 5.2.2.4. Run the following command to start the multi-camera synced
• 5.2.3. Multi-Camera Synchronization Verification Node
  • 5.2.3.1. Usage Guide
  • 5.2.3.2. System Configuration Requirements
• 5.2.4. GMSL_camera
  • 5.2.4.1. Single GMSL camera
  • 5.2.4.2. Multi GMSL camera
  • 5.2.4.3. Multi GMSL camera synced
  • 5.2.4.4. Usage Limitations of GMSL Cameras

5.3. Configuration & Modes

• 5.3.1. Aligning Depth to Color
  • 5.3.1.1. Commands to Align and View Depth and Color Images
  • 5.3.1.2. Switching Registration Mode at Runtime
  • 5.3.1.3. Selecting Topics in RViz2
  • 5.3.1.4. Example of Depth to Color Overlay
• 5.3.2. Configuration of depth NFOV and WFOV modes
• 5.3.3. Depth work mode switch
• 5.3.4. Disparity_search_offset
  • 5.3.4.1. Function Introduction
  • 5.3.4.2. Parameter Introduction
  • 5.3.4.3. Run the launch
• 5.3.5. Using interleave_ae with Gemini330 series cameras
  • 5.3.5.1. Parameter Introduction
  • 5.3.5.2. Run the launch
  • 5.3.5.3. Multi_camera_synced + Interleave_ae
• 5.3.6. Device default
  • 5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L
  • 5.3.6.2. Gemini 336 / Gemini 336L
  • 5.3.6.3. Gemini 2
  • 5.3.6.4. Gemini 2L
  • 5.3.6.5. Gemini 301 series
  • 5.3.6.6. Extended presets
• 5.3.7. SDK JSON Import and Export for Gemini 330 Series
  • 5.3.7.1. Scope
  • 5.3.7.2. Partial Import
  • 5.3.7.3. Parameter Priority
  • 5.3.7.4. Import an SDK JSON File
  • 5.3.7.5. Confirm the Final Effective Configuration
  • 5.3.7.6. Recommended On-Site Workflow
  • 5.3.7.7. Export an SDK JSON File
  • 5.3.7.8. Condensed Field Mapping
  • 5.3.7.9. FAQ
• 5.3.8. False Positive Filtering for Gemini 330 Series
  • 5.3.8.1. Scope
  • 5.3.8.2. Optional: Select a Depth Preset
  • 5.3.8.3. Optional: Import an SDK JSON File
  • 5.3.8.4. Enable False Positive Filtering at Startup
  • 5.3.8.5. Check the Filter Status
  • 5.3.8.6. Enable or Disable the Filter at Runtime
  • 5.3.8.7. Tune Filter Parameters at Runtime
  • 5.3.8.8. FAQ
• 5.3.9. EnhancedDepthFilter Usage Guide
  • 5.3.9.1. Scope and Environment Requirements
  • 5.3.9.2. License
  • 5.3.9.3. Model File
  • 5.3.9.4. Startup Requirements
  • 5.3.9.5. Parameters
  • 5.3.9.6. Image Requirements
  • 5.3.9.7. Output Topics
  • 5.3.9.8. Check the Runtime Status
  • 5.3.9.9. Runtime Adjustment
  • 5.3.9.10. Troubleshooting
• 5.3.10. Net_camera
  • 5.3.10.1. Femto Mega & Gemini 435Le & Gemini 335Le
  • 5.3.10.2. Force IP Function