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5. Advanced Guide

This chapter covers advanced features of the SDK, including multi-camera usage, performance tuning, 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 File 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. uvc_backend Comparison (RGB format)
  • 5.1.1.8. color_format Comparison (MJPG vs RGB)
  • 5.1.1.9. Filter Configuration Impact

5.2. Multi-Camera

• 5.2.1. Using Multiple Cameras with the Orbbec ROS Package
  • 5.2.1.1. Prerequisites
  • 5.2.1.2. Increase usbfs_memory_mb Value (CRITICAL STEP)
  • 5.2.1.3. Identifying Camera USB Ports
  • 5.2.1.4. Launching Multiple Cameras
  • 5.2.1.5. Configuring the TF Tree for Multiple Cameras
• 5.2.2. Multi_camera synced Instructions
  • 5.2.2.1. Setup instructions
  • 5.2.2.2. Checking camera port with OrbbecSDK_ROS1
  • 5.2.2.3. OrbbecSDK_ROS1 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. Configuring Multiple Cameras with Orbbec ROS Package (Nodelet)
  • 5.2.4.1. Configuring the Nodelet Manager
  • 5.2.4.2. Configuring Camera Nodelets
  • 5.2.4.3. Configuring Camera Parameters
• 5.2.5. 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. Selecting Topics in RViz
  • 5.3.1.3. 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 305
  • 5.3.6.6. Extended presets
• 5.3.7. Net Camera
  • 5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le
  • 5.3.7.2. IP Configuration Tool
  • 5.3.7.3. Force IP Function