├── .clang-format ├── .cmake-format.py ├── .gitattributes ├── .github └── ISSUE_TEMPLATE │ └── issue_template.md ├── .gitignore ├── .make_deb.sh ├── LICENSE ├── NOTICE ├── README.MD ├── README_CN.MD ├── orbbec_camera ├── .make_deb.sh ├── CHANGELOG.rst ├── CMakeLists.txt ├── SDK │ ├── include │ │ └── libobsensor │ │ │ ├── ObSensor.h │ │ │ ├── ObSensor.hpp │ │ │ ├── h │ │ │ ├── Advanced.h │ │ │ ├── Context.h │ │ │ ├── Device.h │ │ │ ├── Error.h │ │ │ ├── Export.h │ │ │ ├── Filter.h │ │ │ ├── Frame.h │ │ │ ├── MultipleDevices.h │ │ │ ├── ObTypes.h │ │ │ ├── Pipeline.h │ │ │ ├── Property.h │ │ │ ├── RecordPlayback.h │ │ │ ├── Sensor.h │ │ │ ├── StreamProfile.h │ │ │ ├── TypeHelper.h │ │ │ ├── Utils.h │ │ │ └── Version.h │ │ │ └── hpp │ │ │ ├── Context.hpp │ │ │ ├── Device.hpp │ │ │ ├── Error.hpp │ │ │ ├── Filter.hpp │ │ │ ├── Frame.hpp │ │ │ ├── Pipeline.hpp │ │ │ ├── RecordPlayback.hpp │ │ │ ├── Sensor.hpp │ │ │ ├── StreamProfile.hpp │ │ │ ├── TypeHelper.hpp │ │ │ ├── Types.hpp │ │ │ ├── Utils.hpp │ │ │ └── Version.hpp │ └── lib │ │ ├── arm64 │ │ ├── OrbbecSDKConfig-release.cmake │ │ ├── OrbbecSDKConfig.cmake │ │ ├── OrbbecSDKConfigVersion.cmake │ │ ├── extensions │ │ │ ├── depthengine │ │ │ │ ├── libdepthengine.so │ │ │ │ └── libdepthengine.so.2.0 │ │ │ ├── filters │ │ │ │ ├── libFilterProcessor.so │ │ │ │ └── libob_priv_filter.so │ │ │ ├── firmwareupdater │ │ │ │ └── libfirmwareupdater.so │ │ │ └── frameprocessor │ │ │ │ └── libob_frame_processor.so │ │ ├── libOrbbecSDK.so │ │ ├── libOrbbecSDK.so.2 │ │ └── libOrbbecSDK.so.2.5.5 │ │ └── x64 │ │ ├── OrbbecSDKConfig-release.cmake │ │ ├── OrbbecSDKConfig.cmake │ │ ├── OrbbecSDKConfigVersion.cmake │ │ ├── extensions │ │ ├── depthengine │ │ │ ├── libdepthengine.so │ │ │ └── libdepthengine.so.2.0 │ │ ├── filters │ │ │ ├── libFilterProcessor.so │ │ │ └── libob_priv_filter.so │ │ ├── firmwareupdater │ │ │ └── libfirmwareupdater.so │ │ └── frameprocessor │ │ │ └── libob_frame_processor.so │ │ ├── libOrbbecSDK.so │ │ ├── libOrbbecSDK.so.2 │ │ └── libOrbbecSDK.so.2.5.5 ├── cmake │ └── FindORBBEC_SDK.cmake ├── config │ ├── .gitkeep │ ├── OrbbecSDKConfig_v2.0.xml │ ├── astra2.yaml │ ├── camera_params.yaml │ ├── camera_secondary_params.yaml │ ├── common.yaml │ ├── depthfilter │ │ ├── Gemini2_v1.7.json │ │ └── Openni_device.json │ ├── femto.yaml │ ├── femto_bolt.yaml │ ├── femto_mega.yaml │ ├── gemini2.yaml │ ├── gemini2L.yaml │ ├── gemini330Lg_series.yaml │ ├── gemini330_series.yaml │ └── tools │ │ ├── multisavergbir │ │ └── multi_save_rgbir_params.json │ │ └── startbenchmark │ │ └── start_benchmark_params.json ├── examples │ ├── 435le_new_interface │ │ ├── README.MD │ │ └── camera_example_node.cpp │ ├── README.MD │ ├── benchmark │ │ ├── gemini_330_series_benchmark.launch.py │ │ ├── ob_benchmark_0.launch.py │ │ └── ob_benchmark_1.launch.py │ ├── gmsl_camera │ │ ├── gemini_330_gmsl.launch.py │ │ ├── multi_gmsl_camera.launch.py │ │ └── multi_gmsl_camera_synced.launch.py │ ├── lower_cpu_usage │ │ ├── gemini_330_series_lower_cpu_usage.launch.py │ │ └── multi_camera_lower_cpu_usage.launch.py │ ├── multi_camera_synced_verification_tool │ │ ├── gemini_330_series_synced_verify.launch.py │ │ ├── gemini_synced_verify.launch.py │ │ ├── multi_camera_synced_verify.launch.py │ │ └── multicamera_sync │ │ │ ├── Python │ │ │ ├── Config.ini │ │ │ ├── README.md │ │ │ ├── SyncFramesMain.py │ │ │ └── script │ │ │ │ ├── config_frameMatch-Astra2_new.py │ │ │ │ ├── config_frameMatch-systemTimestamp.py │ │ │ │ ├── config_frameMatch.py │ │ │ │ ├── config_frameMatch_Gemini2VL.py │ │ │ │ └── config_frameMatch_g330.py │ │ │ └── output │ │ │ └── 20250218102900 │ │ │ ├── DevicesInfo.txt │ │ │ ├── StreamProfileInfo.txt │ │ │ ├── TotalModeFrames │ │ │ ├── SNCP1E5420006D_Index0 │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543260_f1_s1739874543351_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543294_f2_s1739874543359_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543327_f3_s1739874543441_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543360_f4_s1739874543442_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543394_f5_s1739874543506_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543427_f6_s1739874543518_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543461_f7_s1739874543520_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543494_f8_s1739874543548_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543527_f9_s1739874543603_e50_d16_.jpg │ │ │ │ ├── color_SNCP1E5420006D_Index0_g1739874543561_f10_s1739874543648_e50_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543250_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543260_f1_s1739874543310_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543294_f2_s1739874543329_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543327_f3_s1739874543393_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543361_f4_s1739874543405_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543394_f5_s1739874543473_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543427_f6_s1739874543474_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543461_f7_s1739874543493_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543494_f8_s1739874543528_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1E5420006D_Index0_g1739874543527_f9_s1739874543627_e5000_d16_.jpg │ │ │ │ └── ir#left_SNCP1E5420006D_Index0_g1739874543561_f10_s1739874543628_e5000_d16_.jpg │ │ │ └── SNCP1L44P00051_Index1 │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543227_f0_s1739874543304_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543260_f1_s1739874543345_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543293_f2_s1739874543446_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543327_f3_s1739874543458_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543360_f4_s1739874543468_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543393_f5_s1739874543470_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543427_f6_s1739874543485_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543460_f7_s1739874543505_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543494_f8_s1739874543540_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543527_f9_s1739874543616_e50_d16_.jpg │ │ │ │ ├── color_SNCP1L44P00051_Index1_g1739874543560_f10_s1739874543618_e50_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543227_f0_s1739874543250_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543260_f1_s1739874543294_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543294_f2_s1739874543319_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543327_f3_s1739874543460_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543360_f4_s1739874543460_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543394_f5_s1739874543661_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543427_f6_s1739874543684_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543460_f7_s1739874543685_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543494_f8_s1739874543687_e5000_d16_.jpg │ │ │ │ ├── ir#left_SNCP1L44P00051_Index1_g1739874543527_f10_s1739874543687_e5000_d16_.jpg │ │ │ │ └── ir#left_SNCP1L44P00051_Index1_g1739874543560_f11_s1739874543687_e5000_d16_.jpg │ │ │ └── results-2025-02-25_163648 │ │ │ ├── frameMatchLog.txt │ │ │ └── matchFrames │ │ │ ├── 0_color_SNCP1E5420006D_Index0_1739874543527_[0].jpg │ │ │ ├── 0_color_SNCP1L44P00051_Index1_1739874543527_[0].jpg │ │ │ ├── 0_ir_left_SNCP1E5420006D_Index0_1739874543527_[0].jpg │ │ │ ├── 0_ir_left_SNCP1L44P00051_Index1_1739874543527_[0].jpg │ │ │ ├── 10_color_SNCP1E5420006D_Index0_1739874543227_[0].jpg │ │ │ ├── 10_color_SNCP1L44P00051_Index1_1739874543227_[0].jpg │ │ │ ├── 10_ir_left_SNCP1E5420006D_Index0_1739874543227_[0].jpg │ │ │ ├── 10_ir_left_SNCP1L44P00051_Index1_1739874543227_[0].jpg │ │ │ ├── 1_color_SNCP1E5420006D_Index0_1739874543494_[0].jpg │ │ │ ├── 1_color_SNCP1L44P00051_Index1_1739874543494_[0].jpg │ │ │ ├── 1_ir_left_SNCP1E5420006D_Index0_1739874543494_[0].jpg │ │ │ ├── 1_ir_left_SNCP1L44P00051_Index1_1739874543494_[0].jpg │ │ │ ├── 2_color_SNCP1E5420006D_Index0_1739874543461_[1].jpg │ │ │ ├── 2_color_SNCP1L44P00051_Index1_1739874543460_[0].jpg │ │ │ ├── 2_ir_left_SNCP1E5420006D_Index0_1739874543461_[1].jpg │ │ │ ├── 2_ir_left_SNCP1L44P00051_Index1_1739874543460_[0].jpg │ │ │ ├── 3_color_SNCP1E5420006D_Index0_1739874543260_[0].jpg │ │ │ ├── 3_color_SNCP1L44P00051_Index1_1739874543260_[0].jpg │ │ │ ├── 3_ir_left_SNCP1E5420006D_Index0_1739874543260_[0].jpg │ │ │ ├── 3_ir_left_SNCP1L44P00051_Index1_1739874543260_[0].jpg │ │ │ ├── 4_color_SNCP1E5420006D_Index0_1739874543360_[0].jpg │ │ │ ├── 4_color_SNCP1L44P00051_Index1_1739874543360_[0].jpg │ │ │ ├── 4_ir_left_SNCP1E5420006D_Index0_1739874543361_[1].jpg │ │ │ ├── 4_ir_left_SNCP1L44P00051_Index1_1739874543360_[0].jpg │ │ │ ├── 5_color_SNCP1E5420006D_Index0_1739874543327_[0].jpg │ │ │ ├── 5_color_SNCP1L44P00051_Index1_1739874543327_[0].jpg │ │ │ ├── 5_ir_left_SNCP1E5420006D_Index0_1739874543327_[0].jpg │ │ │ ├── 5_ir_left_SNCP1L44P00051_Index1_1739874543327_[0].jpg │ │ │ ├── 6_color_SNCP1E5420006D_Index0_1739874543561_[1].jpg │ │ │ ├── 6_color_SNCP1L44P00051_Index1_1739874543560_[0].jpg │ │ │ ├── 6_ir_left_SNCP1E5420006D_Index0_1739874543561_[1].jpg │ │ │ ├── 6_ir_left_SNCP1L44P00051_Index1_1739874543560_[0].jpg │ │ │ ├── 7_color_SNCP1E5420006D_Index0_1739874543427_[0].jpg │ │ │ ├── 7_color_SNCP1L44P00051_Index1_1739874543427_[0].jpg │ │ │ ├── 7_ir_left_SNCP1E5420006D_Index0_1739874543427_[0].jpg │ │ │ ├── 7_ir_left_SNCP1L44P00051_Index1_1739874543427_[0].jpg │ │ │ ├── 8_color_SNCP1E5420006D_Index0_1739874543294_[1].jpg │ │ │ ├── 8_color_SNCP1L44P00051_Index1_1739874543293_[0].jpg │ │ │ ├── 8_ir_left_SNCP1E5420006D_Index0_1739874543294_[1].jpg │ │ │ ├── 8_ir_left_SNCP1L44P00051_Index1_1739874543294_[1].jpg │ │ │ ├── 9_color_SNCP1E5420006D_Index0_1739874543394_[1].jpg │ │ │ ├── 9_color_SNCP1L44P00051_Index1_1739874543393_[0].jpg │ │ │ ├── 9_ir_left_SNCP1E5420006D_Index0_1739874543394_[1].jpg │ │ │ └── 9_ir_left_SNCP1L44P00051_Index1_1739874543394_[1].jpg │ ├── multi_camera_time_sync │ │ └── image_sync_example_node.cpp │ └── net_camera │ │ └── multi_net_camera.launch.py ├── include │ ├── magic_enum │ │ └── magic_enum.hpp │ └── orbbec_camera │ │ ├── constants.h │ │ ├── d2c_viewer.h │ │ ├── dynamic_params.h │ │ ├── fps_counter.hpp │ │ ├── fps_delay_status.hpp │ │ ├── image_publisher.h │ │ ├── jetson_nv_decoder.h │ │ ├── jpeg_decoder.h │ │ ├── ob_camera_node.h │ │ ├── ob_camera_node_driver.h │ │ ├── rk_mpp_decoder.h │ │ ├── ros_param_backend.h │ │ ├── synced_imu_publisher.h │ │ └── utils.h ├── launch │ ├── astra.launch.py │ ├── astra2.launch.py │ ├── dabai_a.launch.py │ ├── dabai_al.launch.py │ ├── femto.launch.py │ ├── femto_bolt.launch.py │ ├── femto_mega.launch.py │ ├── gemini2.launch.py │ ├── gemini210.launch.py │ ├── gemini2L.launch.py │ ├── gemini345.launch.py │ ├── gemini345_lg.launch.py │ ├── gemini435_le.launch.py │ ├── gemini_330_series.launch.py │ ├── gemini_330_series_low_cpu.launch.py │ ├── gemini_intra_process_demo_launch.py │ ├── multi_camera.launch.py │ ├── multi_camera_synced.launch.py │ ├── orbbec_camera.launch.py │ ├── orbbec_multicamera.launch.py │ └── utils_yaml.py ├── package.xml ├── rviz │ └── pointcloud.rviz ├── scripts │ ├── 99-obsensor-libusb.rules │ ├── common_benchmark_node.py │ ├── default_service.yaml │ ├── echo_extrintisics.sh │ ├── generate_orbbec_launch.sh │ ├── group_image.py │ ├── install_udev_rules.sh │ ├── list_ob_devices.sh │ ├── monitor_fd.sh │ ├── plot_stat.py │ ├── receive_pc.py │ ├── save_images.sh │ ├── service_benchmark_node.cpp │ ├── service_benchmark_node.py │ └── static_transforms_publisher.py ├── src │ ├── d2c_viewer.cpp │ ├── dynamic_params.cpp │ ├── image_publisher.cpp │ ├── jetson_nv_decoder.cpp │ ├── jpeg_decoder.cpp │ ├── ob_camera_node.cpp │ ├── ob_camera_node_driver.cpp │ ├── rk_mpp_decoder.cpp │ ├── ros_param_backend.cpp │ ├── ros_service.cpp │ ├── synced_imu_publisher.cpp │ └── utils.cpp └── tools │ ├── csv.hpp │ ├── frame_latency.cpp │ ├── frame_latency.hpp │ ├── list_camera_profile.cpp │ ├── list_depth_work_mode.cpp │ ├── list_devices_node.cpp │ ├── multi_save_rgbir.cpp │ ├── ob_benchmark.cpp │ ├── set_device_ip.cpp │ ├── start_benchmark.cpp │ ├── topic_statistics.cpp │ └── topic_statistics.hpp ├── orbbec_camera_msgs ├── .make_deb.sh ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── DeviceInfo.msg │ ├── DeviceStatus.msg │ ├── Extrinsics.msg │ ├── IMUInfo.msg │ ├── Metadata.msg │ └── RGBD.msg ├── package.xml └── srv │ ├── GetBool.srv │ ├── GetCameraInfo.srv │ ├── GetDeviceInfo.srv │ ├── GetInt32.srv │ ├── GetString.srv │ ├── GetUserCalibParams.srv │ ├── SetArrays.srv │ ├── SetFilter.srv │ ├── SetInt32.srv │ ├── SetString.srv │ └── SetUserCalibParams.srv └── orbbec_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch ├── launch_utils.py └── view_model.launch.py ├── meshes ├── AstraPlus.stl ├── astra2 │ ├── base_link.STL │ ├── camera_bottom_screw_frame.STL │ ├── camera_color_optical_frame.STL │ ├── camera_colorl_frame.STL │ ├── camera_depth_frame.STL │ ├── camera_depth_optical_frame.STL │ ├── camera_infra1_frame.STL │ └── camera_infra1_optical_frame.STL ├── femto_bolt │ └── femto_bolt.stl ├── gemini2 │ ├── base_link.STL │ ├── camera_botter_screw_frame.STL │ ├── camera_color_frame.STL │ ├── camera_color_optical_frame.STL │ ├── camera_depth_frame.STL │ ├── camera_infra1_frame.STL │ ├── camera_infra1_optical_frame.STL │ ├── camera_infra2_frame.STL │ └── camera_infra2_optical_frame.STL ├── gemini2l │ ├── base_link.STL │ ├── camera_IR1_frame.STL │ ├── camera_IR1_optical_frame.STL │ ├── camera_IR2_frame.STL │ ├── camera_IR2_optical_frame.STL │ ├── camera_bottom_screw_frame.STL │ ├── camera_color_frame.STL │ ├── camera_depth_frame.STL │ ├── camera_imu_frame.STL │ └── camera_rgb_optical_frame.STL ├── gemini335L_336L │ ├── base_link.STL │ ├── camera_IMU_frame.STL │ ├── camera_color_frame.STL │ ├── camera_color_optical_frame.STL │ ├── camera_color_screw_frame.STL │ ├── camera_depth_frame.STL │ ├── camera_infra1_frame.STL │ ├── camera_infra1_optical_frame.STL │ ├── camera_infra2_frame.STL │ └── camera_infra2_optical_frame.STL ├── gemini335Le │ ├── base_Link.STL │ ├── camera_botton_screw_frame.STL │ ├── canera_IMU_ROS_frame.STL │ ├── canera_RGB_ROS_frame.STL │ ├── canera_left_IR_ROS_frame.STL │ └── canera_right_IR_ROS_frame.STL ├── gemini335Lg │ ├── base_link.STL │ ├── camera_IMU_frame.STL │ ├── camera_bottom_screw_frame.STL │ ├── camera_color_frame.STL │ ├── camera_color_optical_frame.STL │ ├── camera_depth_frame.STL │ ├── camera_infra1_frame.STL │ ├── camera_infra1_optical_frame.STL │ ├── camera_infra2_frame.STL │ └── camera_infra2_optical_frame.STL └── gemini335_336 │ ├── camera_bottom_screw_frame.STL │ ├── camera_color_frame.STL │ ├── camera_color_optical_frame.STL │ ├── camera_depth_frame.STL │ ├── camera_depth_optical_frame.STL │ ├── camera_left_ir_frame.STL │ ├── camera_left_ir_optical_frame.STL │ ├── camera_link.STL │ ├── camera_right_ir_frame.STL │ └── camera_right_ir_optical_frame.STL ├── package.xml ├── rviz └── urdf.rviz └── urdf ├── astra2.urdf.xacro ├── femto_bolt.urdf.xacro ├── gemini2.urdf.xacro ├── gemini2L.urdf.xacro ├── gemini335L_336L.urdf.xacro ├── gemini335Le.urdf.xacro ├── gemini335Lg.urdf.xacro ├── gemini_335_336.urdf.xacro ├── test_astra2.urdf.xacro ├── test_femto_bolt.urdf.xacro ├── test_gemini2.urdf.xacro ├── test_gemini2L.urdf.xacro ├── test_gemini335L.urdf.xacro ├── test_gemini335Le.urdf.xacro ├── test_gemini335Lg.urdf.xacro ├── test_gemini336L.urdf.xacro ├── test_gemini_335.urdf.xacro └── test_gemini_336.urdf.xacro /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK_ROS2/HEAD/.clang-format -------------------------------------------------------------------------------- /.cmake-format.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/orbbec/OrbbecSDK_ROS2/HEAD/.cmake-format.py -------------------------------------------------------------------------------- /.gitattributes: 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