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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. Build from Source
    • 2.1.1. Environment
    • 2.1.2. Create ROS Workspace and Build
  • 2.2. Registration script (required)
• 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. Color Stream
    • 4.2.2. Depth Stream
    • 4.2.3. IR Stream
    • 4.2.4. Runtime Stream Configuration
    • 4.2.5. Sensor & Emitter Control
    • 4.2.6. Device Information & Management
    • 4.2.7. Synchronization
    • 4.2.8. Disparity Configuration
    • 4.2.9. AE Configuration
    • 4.2.10. Depth Filter Configuration
    • 4.2.11. Data Capture & Calibration Management
  • 4.3. Available Topics
    • 4.3.1. Image Streams
    • 4.3.2. LRM Obstacle Distance
    • 4.3.3. Point Cloud Topics
    • 4.3.4. Device Status & Diagnostics
  • 4.4. Runtime Modifiable Parameters
  • 4.5. Coordinate Systems and TF Transforms
    • 4.5.1. Camera sensor structure
    • 4.5.2. ROS Robot Coordinate System vs Camera Optical Coordinate System
    • 4.5.3. Using ROS1 TF Tools
    • 4.5.4. ROS1 Camera TF Calculation and Publication Mechanism
  • 4.6. Enabling and Visualizing Point Cloud in ROS 1
    • 4.6.1. Enabling Depth Point Cloud
    • 4.6.2. Enabling Colored Point Cloud
  • 4.7. Compressed Image
    • 4.7.1. Publishing Behavior
    • 4.7.2. Common Compressed Image Topics
    • 4.7.3. color_format:=MJPG Scenario
    • 4.7.4. Troubleshooting
• 5. Advanced Guide
  • 5.1. Performance & Optimization
    • 5.1.1. Reducing CPU Usage with Orbbec ROS Package
  • 5.2. Multi-Camera
    • 5.2.1. Using Multiple Cameras with the Orbbec ROS Package
    • 5.2.2. Multi_camera synced Instructions
    • 5.2.3. Multi-Camera Synchronization Verification Node
    • 5.2.4. Configuring Multiple Cameras with Orbbec ROS Package (Nodelet)
    • 5.2.5. Usage Limitations of GMSL Cameras
  • 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 Device Maintenance Tool
  • 6.5. Performance Benchmark Tools
    • 6.5.1. common_benchmark_node.py
    • 6.5.2. service_benchmark_node.py
    • 6.5.3. service_benchmark_node
    • 6.5.4. Benchmark Recommendations
  • 6.6. Diagnostic and Latency Analysis Tools
    • 6.6.1. Diagnostic Tool: Frame Drop Log and Timestamp CSV Recording
    • 6.6.2. monitor_fd.sh
  • 6.7. Multi-Camera Helper Tools
    • 6.7.1. image_sync_example_node
    • 6.7.2. group_images.sh
  • 6.8. Debug Helper Scripts
    • 6.8.1. open_stream.sh
    • 6.8.2. save_image.sh
    • 6.8.3. set_laser.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
• 8. Frequently Asked Questions
  • 8.1. No Data Stream from Multiple Cameras
  • 8.2. Compilation Failure Due to OpenCV Version Issues
  • 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. The image does not reach the preset frame rate
  • 8.8. Issues related to soft trigger mode