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Camera Devices

• 1. Overview
  • 1.1. Introduction
    • 1.1.1. Support Hardware Products
    • 1.1.2. URDF Model Support
    • 1.1.3. Orbbec camera datasheet
    • 1.1.4. Support Platforms
  • 1.2. Orbbec SDK Overview
    • 1.2.1. Terms
    • 1.2.2. Orbbec SDK v2 Architecture Overview
    • 1.2.3. SDK Concept Overview
    • 1.2.4. SDK Programming Model
• 2. Installation
  • 2.1. Environment configuration
  • 2.2. Linux Binary Package Installation
  • 2.3. Build from Source
  • 2.4. Registration Script (Required)
    • 2.4.1. Binary Installation
    • 2.4.2. Build from Source
• 3. Quickstarts
  • 3.1. ROS Package QuickStarts
    • 3.1.1. Introduction
    • 3.1.2. Build your First Camera Application
    • 3.1.3. Sample Features
  • 3.2. OrbbecViewer QuickStarts
    • 3.2.1. Download
    • 3.2.2. Connect the device
    • 3.2.3. Camera Control
    • 3.2.4. Device information and firmware upgrade
• 4. Application Guide
  • 4.1. Launch parameters
    • 4.1.1. How to modify launch parameters
    • 4.1.2. Core & Stream Configuration
    • 4.1.3. Sensor Controls
    • 4.1.4. Device, Sync & Advanced Features
    • 4.1.5. Device-Specific Parameters
    • 4.1.6. Basic & General Parameters
    • 4.1.7. IMU
    • 4.1.8. Depth Filters
  • 4.2. Available services
    • 4.2.1. Stream Control
    • 4.2.2. Runtime Stream Configuration
    • 4.2.3. Sensor & Emitter Control
    • 4.2.4. Device Information & Management
    • 4.2.5. Synchronization & Triggering
    • 4.2.6. Depth Filter Configuration
    • 4.2.7. Disparity Configuration
    • 4.2.8. Data Capture
    • 4.2.9. Point cloud decimation
  • 4.3. Available Topics
    • 4.3.1. Image Streams
    • 4.3.2. LRM Obstacle Distance
    • 4.3.3. Point Cloud Topics
    • 4.3.4. IMU Topics
    • 4.3.5. Device Status & Diagnostics
  • 4.4. Coordinate Systems and TF Transforms
    • 4.4.1. Camera sensor structure
    • 4.4.2. TF from coordinate A to coordinate B:
    • 4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
    • 4.4.4. Using ROS2 TF Tools
    • 4.4.5. Camera TF Calculation and Publishing Mechanism
  • 4.5. Compressed Image
    • 4.5.1. Related Launch Parameters
    • 4.5.2. Common Compressed Image Topics
    • 4.5.3. color_format:=MJPG Scenario
    • 4.5.4. Troubleshooting
  • 4.6. Enabling and Visualizing Point Cloud in ROS 2
    • 4.6.1. Enabling Depth Point Cloud
    • 4.6.2. Enabling Colored Point Cloud
• 5. Advanced Guide
  • 5.1. Performance & Optimization
    • 5.1.1. Reducing CPU Usage with Orbbec ROS Package
    • 5.1.2. Efficient intra-process communication:
    • 5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2
  • 5.2. Multi-Camera
    • 5.2.1. Multi-Camera
    • 5.2.2. Multi_camera synced Instructions
    • 5.2.3. Multi-Camera Synchronization Verification Node
    • 5.2.4. GMSL_camera
  • 5.3. Configuration & Modes
    • 5.3.1. Aligning Depth to Color
    • 5.3.2. Configuration of depth NFOV and WFOV modes
    • 5.3.3. Depth work mode switch
    • 5.3.4. Disparity_search_offset
    • 5.3.5. Using interleave_ae with Gemini330 series cameras
    • 5.3.6. Device default
    • 5.3.7. Gemini 330 Series SDK JSON Usage Guide
    • 5.3.8. Gemini 330 Series FalsePositiveFilter Usage Guide
    • 5.3.9. Gemini 330 Series EnhancedDepthFilter Usage Guide
    • 5.3.10. Net_camera
• 6. Tools
  • 6.1. Tool Index
    • 6.1.1. Tool Overview
  • 6.2. Device Query and Basic Maintenance Tools
    • 6.2.1. list_devices_node
    • 6.2.2. list_depth_work_mode_node
    • 6.2.3. list_camera_profile_mode_node
    • 6.2.4. list_ob_devices.sh
    • 6.2.5. install_udev_rules.sh
  • 6.3. Network Configuration Tools
    • 6.3.1. ip_config_tool
    • 6.3.2. Parameters
  • 6.4. firmware_update_tool Tool
  • 6.5. Performance Benchmark Tools
    • 6.5.1. common_benchmark_node.py
    • 6.5.2. service_benchmark_node.py
    • 6.5.3. ob_benchmark_node
    • 6.5.4. start_benchmark_node
  • 6.6. Diagnostic and Latency Analysis Tools
    • 6.6.1. Frame Drop Log and Timestamp CSV Recording
    • 6.6.2. topic_statistics_node
    • 6.6.3. frame_latency_node
    • 6.6.4. monitor_fd.sh
    • 6.6.5. plot_stat.py
    • 6.6.6. receive_pc.py
  • 6.7. Multi-Camera Helper Tools
    • 6.7.1. multi_save_rgbir_node
    • 6.7.2. image_sync_example_node
    • 6.7.3. SyncFramesMain.py
    • 6.7.4. group_image.py
    • 6.7.5. static_transforms_publisher.py
• 7. Developer Guide
  • 7.1. Migrating from main to Open-Source v2-main
    • 7.1.1. Introduction
    • 7.1.2. Advantages of Migrating from main to v2-main
    • 7.1.3. Comparison Between main and v2-main Branches
  • 7.2. Building a Debian Package
    • 7.2.1. Preparing the Environment
    • 7.2.2. Configuring ROS Dependencies
    • 7.2.3. Building the Package
• 8. Frequently Asked Questions
  • 8.1. Unexpected Crash
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. How to Collect and Save Logs
    • 8.3.1. Details for Developers
  • 8.4. Why Are There So Many Launch Files?
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
  • 8.8. The image does not reach the preset frame rate
  • 8.9. Issues related to soft trigger mode