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OrbbecSDK V2 ROS2 封装
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< li class = "toctree-l1 current" >< a class = "reference internal" href = "overview.html" > 1. 概述</ a >< ul class = "current" >
< li class = "toctree-l2 current" >< a class = "current reference internal" href = "#" > 1.1. 引言</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id2" > 1.1.1. 支持的硬件产品</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#orbbec" > 1.1.2. Orbbec 相机规格书</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id3" > 1.1.3. 支持的平台</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "orbbecsdk_overview.html" > 1.2. Orbbec SDK 概述</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "orbbecsdk_overview.html#id1" > 1.2.1. 术语</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "orbbecsdk_overview.html#orbbec-sdk-v2" > 1.2.2. Orbbec SDK v2 架构概述</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "orbbecsdk_overview.html#sdk" > 1.2.3. SDK 概念概述</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "orbbecsdk_overview.html#id2" > 1.2.4. SDK 编程模型</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../2_installation/installation.html" > 2. 安装</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/build_the_package.html" > 2.1. 从源码构建</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#id2" > 2.1.1. 环境配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#linux-ros2" > 2.1.2. Linux ROS2 包装器编译</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/registration_script.html" > 2.2. 注册脚本（必需）</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../3_quickstarts/quickstarts.html" > 3. 快速开始</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html" > 3.1. ROS 包快速入门</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id1" > 3.1.1. 简介</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id2" > 3.1.2. 构建您的第一个相机应用</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#ros-2" > 3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id3" > 3.1.2.2. 步骤 2：启动相机节点</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#rviz2" > 3.1.2.3. 步骤 3：在 RViz2 中可视化</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id4" > 3.1.3. 示例功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id5" > 3.1.3.1. 列出可用的话题/服务/参数</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id6" > 3.1.3.2. 回显话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id7" > 3.1.3.3. 调用服务</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#rosbag2" > 3.1.3.4. 使用 rosbag2 录制</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html" > 3.2. OrbbecViewer 快速入门</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id1" > 3.2.1. 下载</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id2" > 3.2.2. 连接设备</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id3" > 3.2.3. 相机控制</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id4" > 3.2.4. 设备信息和固件升级</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../4_application_guide/application_guide.html" > 4. 应用指南</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html" > 4.1. 启动参数</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id2" > 4.1.1. 核心与数据流配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id3" > 4.1.2. 传感器控制</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id4" > 4.1.2.1. 彩色流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id5" > 4.1.2.2. 深度流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id6" > 4.1.2.3. 红外流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#ldp" > 4.1.2.4. 激光 / LDP</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id7" > 4.1.3. 设备、同步与高级功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id8" > 4.1.3.1. 多相机同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id9" > 4.1.3.2. 网络相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id10" > 4.1.3.3. 设备特定</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id11" > 4.1.3.4. 视差</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#ae" > 4.1.3.5. 交错AE模式</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id12" > 4.1.3.6. 相机内同步</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id13" > 4.1.4. 基础与通用参数</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id14" > 4.1.4.1. 固件与后端</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#tf" > 4.1.4.2. TF、外参与校准</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id15" > 4.1.4.3. 时间同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id16" > 4.1.4.4. 日志与诊断</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id17" > 4.1.4.5. 其他</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#imu" > 4.1.5. IMU</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id18" > 4.1.6. 深度滤波器</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/services.html" > 4.2. 所有可用的相机控制服务</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id2" > 4.2.1. 数据流控制</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id3" > 4.2.1.1. 彩色流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id4" > 4.2.1.2. 深度流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id5" > 4.2.1.3. 红外流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id6" > 4.2.1.4. 所有数据流</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id7" > 4.2.2. 传感器与发射器控制</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id8" > 4.2.3. 设备信息与管理</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id9" > 4.2.4. 同步与触发</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id10" > 4.2.5. 深度滤波器配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html#id11" > 4.2.6. 数据捕获与校准管理</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/topics.html" > 4.3. 可用话题</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html#id2" > 4.3.1. 图像流</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html#id3" > 4.3.2. 点云话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html#imu" > 4.3.3. IMU话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html#id4" > 4.3.4. 设备状态与诊断</ a ></ li >
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</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/coordinate_systems.html" > 4.4. ROS2机器人坐标系 vs 相机光学坐标系</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/camera_sensor_structure.html" > 4.5. 相机传感器结构</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/tf_transformations.html" > 4.6. 从坐标系A到坐标系B的TF变换：</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/compressed_image.html" > 4.7. 压缩图像</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html" > 4.8. 在ROS 2中启用和可视化点云</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id1" > 4.8.1. 启用深度点云</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id2" > 4.8.1.1. 启用深度点云的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#rviz2" > 4.8.1.2. 在RViz2中可视化深度点云</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id3" > 4.8.2. 启用彩色点云</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id4" > 4.8.2.1. 启用彩色点云的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id5" > 4.8.2.2. 在RViz2中可视化彩色点云</ a ></ li >
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</ ul >
</ li >
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</ li >
< li class = "toctree-l1" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html" > 5. 高级指南</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id2" > 5.1. 性能与优化</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html" > 5.1.1. 使用Orbbec ROS包降低CPU使用率</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#cpu" > 5.1.1.1. 降低CPU使用率的推荐设置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id1" > 5.1.1.2. 用于测试的启动文件</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id2" > 5.1.1.3. 测试环境</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id3" > 5.1.1.4. 测试设置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id4" > 5.1.1.5. 测试结果</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id5" > 5.1.1.6. 进一步优化</ a ></ li >
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</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html" > 5.1.2. 高效的进程内通信：</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#id2" > 5.1.2.1. 简介</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#id3" > 5.1.2.2. 示例</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html" > 5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html#id1" > 5.1.3.1. 调整系统参数</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html#fast-dds" > 5.1.3.2. Fast DDS配置</ a ></ li >
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</ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id3" > 5.2. 多相机</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html" > 5.2.1. 多相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html#id2" > 5.2.1.1. 多相机无数据流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html#id3" > 5.2.1.2. 多相机图像话题帧率过低</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html" > 5.2.2. 多相机同步说明</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id2" > 5.2.2.1. 设置说明</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2" > 5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id3" > 5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id4" > 5.2.2.4. 运行以下命令启动多相机同步</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html" > 5.2.3. 多相机同步验证工具</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2" > 5.2.3.1. 目录结构</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3" > 5.2.3.2. 运行准备</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4" > 5.2.3.3. 运行此示例</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5" > 5.2.3.4. 需要更改的文件</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html" > 5.2.4. GMSL 相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id1" > 5.2.4.1. 单个 GMSL 相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id2" > 5.2.4.2. 多个 GMSL 相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id3" > 5.2.4.3. 多个 GMSL 相机同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id4" > 5.2.4.4. GMSL 相机的使用限制</ a ></ li >
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id4" > 5.3. 配置与模式</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html" > 5.3.1. 在 ROS 2 中对齐深度到彩色</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#id1" > 5.3.1.1. 对齐和查看深度和彩色图像的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#rviz2" > 5.3.1.2. 在 RViz2 中选择话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#id2" > 5.3.1.3. 深度到彩色叠加示例</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html" > 5.3.2. 深度 NFOV 和 WFOV 模式配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/depth_work_mode_switch.html" > 5.3.3. 深度工作模式切换</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html" > 5.3.4. 视差搜索偏移</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id2" > 5.3.4.1. 功能介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id3" > 5.3.4.2. 参数介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id4" > 5.3.4.3. 运行启动文件</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html" > 5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#id1" > 5.3.5.1. 参数介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#id2" > 5.3.5.2. 运行启动文件</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae" > 5.3.5.3. Multi_camera_synced + Interleave_ae</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html" > 5.3.6. 预定义预设</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html" > 5.3.7. 网络相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le" > 5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#set-device-ip" > 5.3.7.2. set_device_ip 工具</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#ip" > 5.3.7.3. 强制 IP 功能</ a ></ li >
</ ul >
</ li >
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l1" >< a class = "reference internal" href = "../6_benchmark/benchmark.html" > 6. 性能基准测试</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/introduction.html" > 6.1. 介绍</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/introduction.html#id2" > 6.1.1. 通用基准测试节点</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/introduction.html#id3" > 6.1.2. 服务基准测试节点</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html" > 6.2. 性能基准测试使用</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#id2" > 6.2.1. 使用通用基准测试节点</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#id3" > 6.2.2. 使用服务基准测试节点</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#ros2-c" > 6.2.2.1. ROS2 C++</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#ros2-python" > 6.2.2.2. ROS2 Python</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#yaml" > 6.2.2.3. < strong > 示例 YAML 配置</ strong ></ a ></ li >
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html" > 6.3. 性能基准测试数据</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html#id2" > 6.3.1. 通用基准测试数据</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html#id3" > 6.3.2. 服务基准测试数据</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/othertools.html" > 6.4. 其他工具</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/othertools.html#ob-benchmark" > 6.4.1. Ob_benchmark 工具</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#start-benchmark-params-json" > 6.4.1.1. 工具配置 (start_benchmark_params.json)</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#id2" > 6.4.1.2. 相机配置（启动文件）</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#id3" > 6.4.1.3. 运行 ob_benchmark 工具</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#id4" > 6.4.1.4. 输出数据文件</ a ></ li >
</ ul >
</ li >
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l1" >< a class = "reference internal" href = "../7_developer_guide/developer_guide.html" > 7. 开发者指南</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html" > 7.1. 从 main 分支迁移到开源 v2-main 分支</ a >< ul >
2025-10-22 03:17:31 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id1" > 7.1.1. 引言</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id2" > 7.1.2. 从 main 迁移到 v2-main 的优势</ a >< ul >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id3" > 7.1.2.1. < strong > 全面的设备支持</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id4" > 7.1.2.2. < strong > 透明性和可扩展性</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id5" > 7.1.2.3. 维护和更新优势</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id6" > 7.1.2.4. < strong > 社区和生态系统支持</ strong ></ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id7" > 7.1.3. main 和 v2-main 分支的比较</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id8" > 7.1.3.1. < strong > 启动文件差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id9" > 7.1.3.2. < strong > 参数差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id10" > 7.1.3.3. < strong > 话题差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id11" > 7.1.3.4. < strong > 服务差异</ strong ></ a ></ li >
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html" > 7.2. 构建 Debian 软件包</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#id1" > 7.2.1. 准备环境</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#ros" > 7.2.2. 配置 ROS 依赖项</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#id2" > 7.2.3. 构建软件包</ a ></ li >
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l1" >< a class = "reference internal" href = "../8_FAQ/FAQ.html" > 8. 常见问题</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id2" > 8.1. 意外崩溃</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id3" > 8.2. 多相机无数据流</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id4" > 8.3. 其他故障排除</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id5" > 8.4. 为什么有这么多启动文件？</ a ></ li >
</ ul >
</ li >
</ ul >
</ div >
</ div >
</ nav >
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< li class = "breadcrumb-item" >< a href = "overview.html" >< span class = "section-number" > 1. </ span > 概述</ a ></ li >
< li class = "breadcrumb-item active" >< span class = "section-number" > 1.1. </ span > 引言</ li >
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< div class = "lang-switch" style = "margin:0 0 1em 0; font-size:0.9em;" >< a class = "lang-other" href = "#" > English</ a > | < a class = "lang-current" href = "#" > 中文</ a ></ div >< script >( function (){ var p = window . location . pathname ; var isEn = p . indexOf ( '/en/' ) !==- 1 && p . indexOf ( '/zh/' ) ===- 1 ; if ( p . indexOf ( '/zh/' ) !==- 1 ) isEn = false ; var other = isEn ? p . replace ( /\/en\// , '/zh/' ) : p . replace ( /\/zh\// , '/en/' ); var current = p ; var sw = document . querySelector ( '.lang-switch' ); if ( ! sw ) return ; var o = sw . querySelector ( '.lang-other' ); var c = sw . querySelector ( '.lang-current' ); if ( isEn ){ o . textContent = '中文' ; c . textContent = 'English' ; } else { o . textContent = 'English' ; c . textContent = '中文' ; } o . setAttribute ( 'href' , other ); c . setAttribute ( 'href' , current );})();</ script >< section id = "id1" >
< h1 >< span class = "section-number" > 1.1. </ span > 引言< a class = "headerlink" href = "#id1" title = "Link to this heading" > </ a ></ h1 >
< p > OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它支持 ROS2 Foxy、Humble 和 Jazzy 发行版。</ p >
< p > 默认推荐使用 < strong > v2-main</ strong > 分支。对于 v2-main 尚不支持的旧 OpenNI 设备，请使用 < strong > main</ strong > 分支。仅由 main 分支支持的设备型号列在下表中。</ p >
< p > 如果您是中国用户，推荐使用 < a class = "reference external" href = "https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2" > gitee 仓库</ a > 。</ p >
< p > 下面是 main 分支 (v1.x) 与 v2-main 分支 (v2.x) 的设备支持列表：</ p >
< table border = "1" style = "border-collapse: collapse; text-align: left; width: 100%;" >
< thead >
< tr style = "background-color: #1f4e78; color: white; text-align: center;" >
< th > 产品系列</ th >
< th > 产品</ th >
< th >< a href = "https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style = "color: black; text-decoration: none;" > main 分支</ a ></ th >
< th >< a href = "https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style = "color: black; text-decoration: none;" > v2-main 分支</ a ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td style = "text-align: center; font-weight: bold;" > Gemini 435Le</ td >
< td > Gemini 435Le</ td >
< td > 不支持</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td rowspan = "8" style = "text-align: center; font-weight: bold;" > Gemini 330</ td >
< td > Gemini 335</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 336</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 335L</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 336L</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 335Lg</ td >
< td > 不支持</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 335Le</ td >
< td > 不支持</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 330</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 330L</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td rowspan = "3" style = "text-align: center; font-weight: bold;" > Gemini 2</ td >
< td > Gemini 2</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 2 L</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Gemini 2 XL</ td >
< td > 建议用于新设计</ td >
< td > 即将支持</ td >
</ tr >
< tr >
< td rowspan = "3" style = "text-align: center; font-weight: bold;" > Femto</ td >
< td > Femto Bolt</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Femto Mega</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Femto Mega I</ td >
< td > 完整维护</ td >
< td > 即将支持</ td >
</ tr >
< tr >
< td rowspan = "3" style = "text-align: center; font-weight: bold;" > Astra</ td >
< td > Astra 2</ td >
< td > 完整维护</ td >
< td > 建议用于新设计</ td >
</ tr >
< tr >
< td > Astra+</ td >
< td > 限制维护</ td >
< td > 不支持</ td >
</ tr >
< tr >
< td > Astra Pro Plus</ td >
< td > 限制维护</ td >
< td > 不支持</ td >
</ tr >
< tr >
< td style = "text-align: center; font-weight: bold;" > Astra Mini</ td >
< td > Astra Mini Pro</ td >
< td > 完整维护</ td >
< td > 完整维护</ td >
</ tr >
</ tbody >
</ table >< p >< strong > 注意</ strong > : 如果未找到您的设备，请联系我们的 FAE 或销售代表获取帮助。</ p >
< p >< strong > 术语定义</ strong > :</ p >
< ol class = "simple" >
< li >< p > 建议用于新设计：我们将提供完整支持，包括新特性、缺陷修复与性能优化；</ p ></ li >
< li >< p > 完整维护：我们将提供缺陷修复支持；</ p ></ li >
< li >< p > 限制维护：我们仅提供关键缺陷修复支持；</ p ></ li >
< li >< p > 不支持：当前版本不支持该设备；</ p ></ li >
< li >< p > 即将支持：近期将添加支持。</ p ></ li >
</ ol >
< section id = "id2" >
< h2 >< span class = "section-number" > 1.1.1. </ span > 支持的硬件产品< a class = "headerlink" href = "#id2" title = "Link to this heading" > </ a ></ h2 >
< p > 以下设备由 OrbbecSDK ROS2 封装 v2-main 分支支持。后续将增加更多设备支持。如果您在下表中未找到设备，请尝试 < a class = "reference external" href = "https://github.com/orbbec/OrbbecSDK_ROS2" > main</ a > 分支。</ p >
< p > 为获得最佳性能，强烈建议升级到最新固件版本，以确保获得最新的改进与缺陷修复。</ p >
< p > 关于如何获取与升级最新固件，< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html" >< span class = "doc" > 请点击这里</ span ></ a > 。</ p >
< table border = "1" class = "docutils" >
< thead >
< tr >
< th style = "text-align: left;" > 产品列表</ th >
< th style = "text-align: left;" > 最低固件版本</ th >
< th style = "text-align: left;" >< strong > 启动文件</ strong ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td style = "text-align: left;" > Gemini 435Le</ td >
< td style = "text-align: left;" > 1.2.04</ td >
< td style = "text-align: left;" > gemini435_le.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 335</ td >
< td style = "text-align: left;" > 1.2.20</ td >
< td style = "text-align: left;" > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 336</ td >
< td style = "text-align: left;" > 1.2.20</ td >
< td style = "text-align: left;" > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 335L</ td >
< td style = "text-align: left;" > 1.2.20</ td >
< td style = "text-align: left;" > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 336L</ td >
< td style = "text-align: left;" > 1.2.20</ td >
< td style = "text-align: left;" > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 335Lg</ td >
< td style = "text-align: left;" > 1.3.46</ td >
< td style = "text-align: left;" > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 335Le</ td >
< td style = "text-align: left;" > 1.5.31</ td >
< td style = "text-align: left;" > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 330</ td >
< td style = "text-align: left;" > 1.2.20</ td >
< td style = "text-align: left;" > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 330L</ td >
< td style = "text-align: left;" > 1.2.20</ td >
< td style = "text-align: left;" > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 2</ td >
< td style = "text-align: left;" > 1.4.92</ td >
< td style = "text-align: left;" > gemini2.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Gemini 2 L</ td >
< td style = "text-align: left;" > 1.4.53</ td >
< td style = "text-align: left;" > gemini2L.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Femto Bolt</ td >
< td style = "text-align: left;" > 1.1.2</ td >
< td style = "text-align: left;" > femto_bolt.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Femto Mega</ td >
< td style = "text-align: left;" > 1.3.0</ td >
< td style = "text-align: left;" > femto_mega.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Astra 2</ td >
< td style = "text-align: left;" > 2.8.20</ td >
< td style = "text-align: left;" > astra2.launch.py</ td >
</ tr >
< tr >
< td style = "text-align: left;" > Astra Mini Pro</ td >
< td style = "text-align: left;" > 2.0.01</ td >
< td style = "text-align: left;" > astra.launch.py</ td >
</ tr >
</ tbody >
</ table >< p > 所有启动文件本质上是类似的，主要区别在于同系列不同型号设置的参数默认值。USB 标准差异（如 USB 2.0 与 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别关注启动文件中的分辨率设置以及其他参数，以确保兼容与最佳性能。</ p >
</ section >
< section id = "orbbec" >
< h2 >< span class = "section-number" > 1.1.2. </ span > Orbbec 相机规格书< a class = "headerlink" href = "#orbbec" title = "Link to this heading" > </ a ></ h2 >
< p > 更多信息请参考相机规格书。</ p >
< style >
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width : 100 % ;
}
th , td {
border : 1 px solid #ccc ;
padding : 8 px ;
text-align : left ;
vertical-align : middle ;
}
thead th {
background-color : #1f4e78 ;
color : white ;
text-align : center ;
vertical-align : middle ;
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</ style >< table >
< thead >
< tr >
< th > 产品系列</ th >
< th > 产品</ th >
< th > 规格书</ th >
</ tr >
</ thead >
< tbody >
< tr >
< td style = "text-align: center;" > Gemini 435Le</ td >
< td > Gemini 435Le</ td >
< td >< a href = "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf" > Orbbec Gemini 435Le 规格书</ a ></ td >
</ tr >
< tr >
< td style = "text-align: center;" rowspan = "6" > Gemini 330</ td >
< td > Gemini 335</ td >
< td rowspan = "4" >< a href = "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf" > Gemini 330 系列 USB 设备规格书</ a ></ td >
</ tr >
< tr >< td > Gemini 336</ td ></ tr >
< tr >< td > Gemini 335L</ td ></ tr >
< tr >< td > Gemini 336L</ td ></ tr >
< tr >
< td > Gemini 335Lg</ td >
< td >< a href = "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2024/10/22030914/Gemini-335Lg-Datasheet-V1.0-241022.pdf" > Gemini 330 系列 GMSL 设备规格书</ a ></ td >
</ tr >
< tr >
< td > Gemini 335Le</ td >
< td >< a href = "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/03/24023151/Orbbec-Gemini-335Le-Datasheet-V1-2.pdf" > Gemini 330 系列 以太网设备规格书</ a ></ td >
</ tr >
< tr >
< td style = "text-align: center;" rowspan = "3" > Gemini 2</ td >
< td > Gemini 2</ td >
< td rowspan = "2" >< a href = "https://xm917ch2uk.feishu.cn/file/Khxfb2vdioUghexIMqJcAyL3nXf" > Orbbec Gemini 2 系列规格书</ a ></ td >
</ tr >
< tr >< td > Gemini 2 L</ td ></ tr >
< tr >
< td > Gemini 2 XL</ td >
< td >< a href = "https://xm917ch2uk.feishu.cn/file/QW2vbNvwxoocRIxSL6Zcvut2npS" > Orbbec Gemini 2 XL 规格书</ a ></ td >
</ tr >
< tr >
< td style = "text-align: center;" rowspan = "3" > Femto</ td >
< td > Femto Bolt</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2024/08/ORBBEC_Datasheet_Femto-Bolt-v1.0.pdf" > Orbbec Femto Bolt 规格书</ a ></ td >
</ tr >
< tr >
< td > Femto Mega</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Femto-Mega1.pdf" > Orbbec Femto Mega 规格书</ a ></ td >
</ tr >
< tr >
< td > Femto Mega I</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/08/ORBBEC_Datasheet_Femto-Mega-I.pdf" > Orbbec Femto Mega I 规格书</ a ></ td >
</ tr >
< tr >
< td style = "text-align: center;" rowspan = "3" > Astra</ td >
< td > Astra 2</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-2_V1.2.pdf" > Orbbec Astra 2 规格书</ a ></ td >
</ tr >
< tr >
< td > Astra+</ td >
< td >< a href = "https://xm917ch2uk.feishu.cn/file/Qk0zbx26Doh8XMxw0rIcOgQYnff" > Orbbec Astra+ 规格书</ a ></ td >
</ tr >
< tr >
< td > Astra Mini Pro</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-Mini-Pro-1.pdf" > Orbbec Astra Mini Pro 规格书</ a ></ td >
</ tr >
</ tbody >
</ table ></ section >
< hr class = "docutils" />
< section id = "id3" >
< h2 >< span class = "section-number" > 1.1.3. </ span > 支持的平台< a class = "headerlink" href = "#id3" title = "Link to this heading" > </ a ></ h2 >
< ul class = "simple" >
< li >< p > Linux x64：已在 Ubuntu 22.04 上测试</ p ></ li >
< li >< p > Linux ARM64：已在 NVIDIA Jetson AGX Orin、NVIDIA Jetson Orin NX、NVIDIA Jetson Orin Nano、NVIDIA Jetson AGX Xavier、NVIDIA Jetson Xavier NX 上测试</ p ></ li >
</ ul >
</ section >
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< p > © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
2025-10-22 03:17:31 +00:00
< span class = "lastupdated" > 最后更新于 2025年10月22日 03:17:27.
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