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104 lines
35 KiB
Plaintext
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€•ØŒ Œdocutils.nodes”Œdocument”“”)�”}”(Œ rawsource”Œ ”Œchildren”]”h Œsection”“”)�”}”(hhh]”(h Œtitle”“”)�”}”(hŒ!所有å�¯ç”¨çš„相机控制æœ�务”h]”h ŒText”“”Œ!所有å�¯ç”¨çš„相机控制æœ�务”…”�”}”(Œparent”hŒ _document”hŒsource”Œ^/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/zh/source/4_application_guide/services.md”Œline”K ubaŒ
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attributes”}”(Œids”]”Œclasses”]”Œnames”]”Œdupnames”]”Œbackrefs”]”uŒtagname”hh Khh h h ubh Œ block_quote”“”)�”}”(hhh]”h Œ paragraph”“”)�”}”(hŒ�注æ„�： 与特定数æ�®æµ�相关的æœ�务（例如 /camera/set_color_*）仅在å�¯åŠ¨æ–‡ä»¶ä¸å�¯ç”¨è¯¥æ•°æ�®æµ�æ—¶å�¯ç”¨ï¼ˆä¾‹å¦‚ enable_color:=true）。”h]”(h Œstrong”“”)�”}”(hŒ 注æ„�：”h]”hŒ 注æ„�：”…”�”}”(hh9hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h7hh3hhh h h K ubhŒ, 与特定数æ�®æµ�相关的æœ�务（例如 ”…”�”}”(hh3hhh h h K ubh Œliteral”“”)�”}”(hŒ/camera/set_color_*”h]”hŒ/camera/set_color_*”…”�”}”hhMsbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhh3hhh h h K ubhŒ=）仅在å�¯åŠ¨æ–‡ä»¶ä¸å�¯ç”¨è¯¥æ•°æ�®æµ�æ—¶å�¯ç”¨ï¼ˆä¾‹å¦‚ ”…”�”}”(hh3hhh h h K ubhL)�”}”(hŒenable_color:=true”h]”hŒenable_color:=true”…”�”}”hh_sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhh3hhh h h K ubhŒï¼‰ã€‚”…”�”}”(hh3hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h Khh.hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+h,h Khh hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒæ•°æ�®æµ�控制”h]”hŒæ•°æ�®æµ�控制”…”�”}”(hh€hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh Khh}h h ubh
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)�”}”(hhh]”(h)�”}”(hŒ 彩色æµ�”h]”hŒ 彩色æµ�”…”�”}”(hh‘hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh KhhŽh h ubh Œ bullet_list”“”)�”}”(hhh]”(h Œ list_item”“”)�”}”(hhh]”(h2)�”}”(hŒ/camera/toggle_color”h]”hL)�”}”(hŒ/camera/toggle_color”h]”hŒ/camera/toggle_color”…”�”}”hhsbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhh©hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h Khh¦hhh h ubh Œ
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literal_block”“”)�”}”(hŒJros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'”h]”hŒJros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'”…”�”}”hhÃsbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”Œ xml:space”Œpreserve”uh+hÁhh¦hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Khh¡hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ3/camera/get_color_exposure & /camera/get_color_gain”h]”(hL)�”}”(hŒ/camera/get_color_exposure”h]”hŒ/camera/get_color_exposure”…”�”}”hhâsbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhhÞhhh h h K ubhŒ ”…”�”}”(hhÞhhh h h K ubhŒ&”…”�”}”(hhÞhhh h h K ubhŒ ”…”�”}”(hhÞhhh h h K ubhL)�”}”(hŒ/camera/get_color_gain”h]”hŒ/camera/get_color_gain”…”�”}”hhüsbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhhÞhhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h K hhÛhhh h ubhÂ)�”}”(hŒŸros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒŸros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhhÛhhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K hh¡hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ /camera/set_color_auto_exposure”h]”hL)�”}”(hŒ /camera/set_color_auto_exposure”h]”hŒ /camera/set_color_auto_exposure”…”�”}”hj- sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj) hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h Khj& hhh h ubhÂ)�”}”(hŒUros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŒUros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hjA sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj& hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Khh¡hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ3/camera/set_color_exposure & /camera/set_color_gain”h]”(hL)�”}”(hŒ/camera/set_color_exposure”h]”hŒ/camera/set_color_exposure”…”�”}”hj^ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjZ hhh h h K ubhŒ ”…”�”}”(hjZ hhh h h K ubhŒ&”…”�”}”(hjZ hhh h h K ubhŒ ”…”�”}”(hjZ hhh h h K ubhL)�”}”(hŒ/camera/set_color_gain”h]”hŒ/camera/set_color_gain”…”�”}”hjx sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjZ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h KhjW hhh h ubhÂ)�”}”(hŒ®ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
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ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŒ®ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
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ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hjŒ sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjW hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Khh¡hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒL/camera/set_color_mirror, /camera/set_color_flip, /camera/set_color_rotation”h]”(hL)�”}”(hŒ/camera/set_color_mirror”h]”hŒ/camera/set_color_mirror”…”�”}”hj© sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj¥ hhh h h K ubhŒ, ”…”�”}”(hj¥ hhh h h K ubhL)�”}”(hŒ/camera/set_color_flip”h]”hŒ/camera/set_color_flip”…”�”}”hj» sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj¥ hhh h h K ubhŒ, ”…”�”}”(hj¥ hhh h h K ubhL)�”}”(hŒ/camera/set_color_rotation”h]”hŒ/camera/set_color_rotation”…”�”}”hjÍ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj¥ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h Khj¢ hhh h ubhÂ)�”}”(hŒöros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”h]”hŒöros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”…”�”}”hjá sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj¢ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Khh¡hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_color_ae_roi”h]”hL)�”}”(hŒ/camera/set_color_ae_roi”h]”hŒ/camera/set_color_ae_roi”…”�”}”hjþ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjú hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K hj÷ hhh h ubhÂ)�”}”(hŒ�# data_param: [å·¦, å�³, 上, 下]
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ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'”h]”hŒ�# data_param: [å·¦, å�³, 上, 下]
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ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj÷ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K hh¡hhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hŸh KhhŽhhh h ubeh }”(h!]”Œid3”ah#]”h%]”Œ 彩色æµ�”ah']”h)]”uh+h h Khh}hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒ 深度æµ�”h]”hŒ 深度æµ�”…”�”}”(hj9 hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh K&hj6 h h ubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/toggle_depth”h]”hL)�”}”(hŒ/camera/toggle_depth”h]”hŒ/camera/toggle_depth”…”�”}”hjQ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjM hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K'hjJ hhh h ubhÂ)�”}”(hŒJros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'”h]”hŒJros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'”…”�”}”hje sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjJ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K'hjG hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ3/camera/get_depth_exposure & /camera/get_depth_gain”h]”(hL)�”}”(hŒ/camera/get_depth_exposure”h]”hŒ/camera/get_depth_exposure”…”�”}”hj‚ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj~ hhh h h K ubhŒ ”…”�”}”(hj~ hhh h h K ubhŒ&”…”�”}”(hj~ hhh h h K ubhŒ ”…”�”}”(hj~ hhh h h K ubhL)�”}”(hŒ/camera/get_depth_gain”h]”hŒ/camera/get_depth_gain”…”�”}”hjœ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj~ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h K+hj{ hhh h ubhÂ)�”}”(hŒŸros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒŸros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hj° sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj{ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K+hjG hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ /camera/set_depth_auto_exposure”h]”hL)�”}”(hŒ /camera/set_depth_auto_exposure”h]”hŒ /camera/set_depth_auto_exposure”…”�”}”hjÍ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjÉ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K0hjÆ hhh h ubhÂ)�”}”(hŒUros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŒUros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hjá sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjÆ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K0hjG hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ3/camera/set_depth_exposure & /camera/set_depth_gain”h]”(hL)�”}”(hŒ/camera/set_depth_exposure”h]”hŒ/camera/set_depth_exposure”…”�”}”hjþ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjú hhh h h K ubhŒ ”…”�”}”(hjú hhh h h K ubhŒ&”…”�”}”(hjú hhh h h K ubhŒ ”…”�”}”(hjú hhh h h K ubhL)�”}”(hŒ/camera/set_depth_gain”h]”hŒ/camera/set_depth_gain”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjú hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h K4hj÷ hhh h ubhÂ)�”}”(hŒ±ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŒ±ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hj, sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj÷ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K4hjG hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒL/camera/set_depth_mirror, /camera/set_depth_flip, /camera/set_depth_rotation”h]”(hL)�”}”(hŒ/camera/set_depth_mirror”h]”hŒ/camera/set_depth_mirror”…”�”}”hjI sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjE hhh h h K ubhŒ, ”…”�”}”(hjE hhh h h K ubhL)�”}”(hŒ/camera/set_depth_flip”h]”hŒ/camera/set_depth_flip”…”�”}”hj[ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjE hhh h h K ubhŒ, ”…”�”}”(hjE hhh h h K ubhL)�”}”(hŒ/camera/set_depth_rotation”h]”hŒ/camera/set_depth_rotation”…”�”}”hjm sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjE hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h K9hjB hhh h ubhÂ)�”}”(hŒöros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”h]”hŒöros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”…”�”}”hj� sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjB hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K9hjG hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_depth_ae_roi”h]”hL)�”}”(hŒ/camera/set_depth_ae_roi”h]”hŒ/camera/set_depth_ae_roi”…”�”}”hjž sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjš hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K?hj— hhh h ubhÂ)�”}”(hŒŒ# data_param: [å·¦, å�³, 上, 下]
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ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'”h]”hŒŒ# data_param: [å·¦, å�³, 上, 下]
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ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'”…”�”}”hj² sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj— hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K?hjG hhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hŸh K'hj6 hhh h ubeh }”(h!]”Œid4”ah#]”h%]”Œ 深度æµ�”ah']”h)]”uh+h h K&hh}hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒ 红外æµ�”h]”hŒ 红外æµ�”…”�”}”(hjÙ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh KEhjÖ h h ubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/toggle_ir”h]”hL)�”}”(hŒ/camera/toggle_ir”h]”hŒ/camera/toggle_ir”…”�”}”hjñ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjí hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h KFhjê hhh h ubhÂ)�”}”(hŒGros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'”h]”hŒGros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjê hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h KFhjç hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ-/camera/get_ir_exposure & /camera/get_ir_gain”h]”(hL)�”}”(hŒ/camera/get_ir_exposure”h]”hŒ/camera/get_ir_exposure”…”�”}”hj" sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj hhh h h K ubhŒ ”…”�”}”(hj hhh h h K ubhŒ&”…”�”}”(hj hhh h h K ubhŒ ”…”�”}”(hj hhh h h K ubhL)�”}”(hŒ/camera/get_ir_gain”h]”hŒ/camera/get_ir_gain”…”�”}”hj< sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h KKhj hhh h ubhÂ)�”}”(hŒ™ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒ™ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hjP sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h KKhjç hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ /camera/set_ir_auto_exposure”h]”hL)�”}”(hŒ /camera/set_ir_auto_exposure”h]”hŒ /camera/set_ir_auto_exposure”…”�”}”hjm sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhji hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h KPhjf hhh h ubhÂ)�”}”(hŒRros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŒRros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hj� sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjf hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h KPhjç hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ-/camera/set_ir_exposure & /camera/set_ir_gain”h]”(hL)�”}”(hŒ/camera/set_ir_exposure”h]”hŒ/camera/set_ir_exposure”…”�”}”hjž sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjš hhh h h K ubhŒ ”…”�”}”(hjš hhh h h K ubhŒ&”…”�”}”(hjš hhh h h K ubhŒ ”…”�”}”(hjš hhh h h K ubhL)�”}”(hŒ/camera/set_ir_gain”h]”hŒ/camera/set_ir_gain”…”�”}”hj¸ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjš hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h KThj— hhh h ubhÂ)�”}”(hŒ«ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŒ«ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hjÌ sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj— hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h KThjç hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/switch_ir”h]”hL)�”}”(hŒ/camera/switch_ir”h]”hŒ/camera/switch_ir”…”�”}”hjé sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjå hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h KYhjâ hhh h ubhÂ)�”}”(hŒSros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'”h]”hŒSros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'”…”�”}”hjý sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjâ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h KYhjç hhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hŸh KFhjÖ hhh h ubeh }”(h!]”Œid5”ah#]”h%]”Œ 红外æµ�”ah']”h)]”uh+h h KEhh}hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒæ‰€æœ‰æ•°æ�®æµ�”h]”hŒæ‰€æœ‰æ•°æ�®æµ�”…”�”}”(hj$ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh K^hj! h h ubh )�”}”(hhh]”h¥)�”}”(hhh]”(h2)�”}”(hŒ7/camera/get_streams_enable & /camera/set_streams_enable”h]”(hL)�”}”(hŒ/camera/get_streams_enable”h]”hŒ/camera/get_streams_enable”…”�”}”hj< sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj8 hhh h h K ubhŒ ”…”�”}”(hj8 hhh h h K ubhŒ&”…”�”}”(hj8 hhh h h K ubhŒ ”…”�”}”(hj8 hhh h h K ubhL)�”}”(hŒ/camera/set_streams_enable”h]”hŒ/camera/set_streams_enable”…”�”}”hjV sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj8 hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h K_hj5 hhh h ubhÂ)�”}”(hŒ¢ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
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ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'”h]”hŒ¢ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
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ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'”…”�”}”hjj sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj5 hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K_hj2 hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+hŸh K_hj! hhh h ubeh }”(h!]”Œid6”ah#]”h%]”Œæ‰€æœ‰æ•°æ�®æµ�”ah']”h)]”uh+h h K^hh}hhh h ubeh }”(h!]”Œid2”ah#]”h%]”Œæ•°æ�®æµ�控制”ah']”h)]”uh+h h Khh hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒä¼ 感器与å�‘射器控制”h]”hŒä¼ 感器与å�‘射器控制”…”�”}”(hj™ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh Kehj– h h ubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ?/camera/set_auto_white_balance & /camera/get_auto_white_balance”h]”(hL)�”}”(hŒ /camera/set_auto_white_balance”h]”hŒ /camera/set_auto_white_balance”…”�”}”hj± sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj hhh h h K ubhŒ ”…”�”}”(hj hhh h h K ubhŒ&”…”�”}”(hj hhh h h K ubhŒ ”…”�”}”(hj hhh h h K ubhL)�”}”(hŒ /camera/get_auto_white_balance”h]”hŒ /camera/get_auto_white_balance”…”�”}”hjË sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h Kghjª hhh h ubhÂ)�”}”(hŒªros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒªros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hjß sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjª hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Kghj§ hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ5/camera/set_white_balance & /camera/get_white_balance”h]”(hL)�”}”(hŒ/camera/set_white_balance”h]”hŒ/camera/set_white_balance”…”�”}”hjü sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjø hhh h h K ubhŒ ”…”�”}”(hjø hhh h h K ubhŒ&”…”�”}”(hjø hhh h h K ubhŒ ”…”�”}”(hjø hhh h h K ubhL)�”}”(hŒ/camera/get_white_balance”h]”hŒ/camera/get_white_balance”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjø hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h Klhjõ hhh h ubhÂ)�”}”(hŒ«ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
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ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒ«ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
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ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hj* sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjõ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Klhj§ hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_laser_enable”h]”hL)�”}”(hŒ/camera/set_laser_enable”h]”hŒ/camera/set_laser_enable”…”�”}”hjG sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjC hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h Kqhj@ hhh h ubhÂ)�”}”(hŒNros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'”h]”hŒNros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'”…”�”}”hj[ sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj@ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Kqhj§ hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ//camera/set_ldp_enable & /camera/get_ldp_status”h]”(hL)�”}”(hŒ/camera/set_ldp_enable”h]”hŒ/camera/set_ldp_enable”…”�”}”hjx sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjt hhh h h K ubhŒ ”…”�”}”(hjt hhh h h K ubhŒ&”…”�”}”(hjt hhh h h K ubhŒ ”…”�”}”(hjt hhh h h K ubhL)�”}”(hŒ/camera/get_ldp_status”h]”hŒ/camera/get_ldp_status”…”�”}”hj’ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjt hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h Kuhjq hhh h ubhÂ)�”}”(hŒ™ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'”h]”hŒ™ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'”…”�”}”hj¦ sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjq hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Kuhj§ hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_fan_work_mode”h]”hL)�”}”(hŒ/camera/set_fan_work_mode”h]”hŒ/camera/set_fan_work_mode”…”�”}”hjà sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj¿ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h Kzhj¼ hhh h ubhÂ)�”}”(hŒWros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”h]”hŒWros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”…”�”}”hj× sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj¼ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h Kzhj§ hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_floor_enable”h]”hL)�”}”(hŒ/camera/set_floor_enable”h]”hŒ/camera/set_floor_enable”…”�”}”hjô sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjð hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K~hjí hhh h ubhÂ)�”}”(hŒNros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'”h]”hŒNros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjí hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K~hj§ hhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hŸh Kghj– hhh h ubeh }”(h!]”Œid7”ah#]”h%]”Œä¼ 感器与å�‘射器控制”ah']”h)]”uh+h h Kehh hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒè®¾å¤‡ä¿¡æ�¯ä¸Žç®¡ç�†”h]”hŒè®¾å¤‡ä¿¡æ�¯ä¸Žç®¡ç�†”…”�”}”(hj/ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh Kƒhj, h h ubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/get_device_info”h]”hL)�”}”(hŒ/camera/get_device_info”h]”hŒ/camera/get_device_info”…”�”}”hjG sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjC hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K…hj@ hhh h ubhÂ)�”}”(hŒNros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo”h]”hŒNros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo”…”�”}”hj[ sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj@ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K…hj= hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/get_sdk_version”h]”hL)�”}”(hŒ/camera/get_sdk_version”h]”hŒ/camera/get_sdk_version”…”�”}”hjx sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjt hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K‰hjq hhh h ubhÂ)�”}”(hŒJros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString”h]”hŒJros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString”…”�”}”hjŒ sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjq hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K‰hj= hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/reboot_device”h]”hL)�”}”(hŒ/camera/reboot_device”h]”hŒ/camera/reboot_device”…”�”}”hj© sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj¥ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K�hj¢ hhh h ubhÂ)�”}”(hŒ?ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'”h]”hŒ?ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'”…”�”}”hj½ sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj¢ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K�hj= hhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hŸh K…hj, hhh h ubeh }”(h!]”Œid8”ah#]”h%]”Œè®¾å¤‡ä¿¡æ�¯ä¸Žç®¡ç�†”ah']”h)]”uh+h h Kƒhh hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒå�Œæ¥ä¸Žè§¦å�‘”h]”hŒå�Œæ¥ä¸Žè§¦å�‘”…”�”}”(hjä hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh K’hjá h h ubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ /camera/send_software_trigger”h]”hL)�”}”(hŒ /camera/send_software_trigger”h]”hŒ /camera/send_software_trigger”…”�”}”hjü sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjø hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K”hjõ hhh h ubhÂ)�”}”(hŒSros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'”h]”hŒSros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjõ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K”hjò hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_reset_timestamp”h]”hL)�”}”(hŒ/camera/set_reset_timestamp”h]”hŒ/camera/set_reset_timestamp”…”�”}”hj- sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj) hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K˜hj& hhh h ubhÂ)�”}”(hŒƒ# 仅在time_domainå�‚数设置为deviceæ—¶å�¯ç”¨
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ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'”h]”hŒƒ# 仅在time_domainå�‚数设置为deviceæ—¶å�¯ç”¨
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ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'”…”�”}”hjA sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj& hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K˜hjò hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ!/camera/set_sync_interleaverlaser”h]”hL)�”}”(hŒ!/camera/set_sync_interleaverlaser”h]”hŒ!/camera/set_sync_interleaverlaser”…”�”}”hj^ sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjZ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K�hjW hhh h ubhÂ)�”}”(hŒ®# 仅在interleave_ae_mode为'laser'且interleave_frame_enable为trueæ—¶å�¯ç”¨
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ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”h]”hŒ®# 仅在interleave_ae_mode为'laser'且interleave_frame_enable为trueæ—¶å�¯ç”¨
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ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”…”�”}”hjr sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjW hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K�hjò hhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hŸh K”hjá hhh h ubeh }”(h!]”Œid9”ah#]”h%]”Œå�Œæ¥ä¸Žè§¦å�‘”ah']”h)]”uh+h h K’hh hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒæ·±åº¦æ»¤æ³¢å™¨é…�ç½®”h]”hŒæ·±åº¦æ»¤æ³¢å™¨é…�ç½®”…”�”}”(hj™ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh K£hj– h h ubh )�”}”(hhh]”h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_filter”h]”hL)�”}”(hŒ/camera/set_filter”h]”hŒ/camera/set_filter”…”�”}”hj± sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K¥hjª hhh h ubhÂ)�”}”(hXf # 设置DecimationFilter
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
|
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|
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# 设置SpatialAdvancedFilter
|
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'”h]”hXf # 设置DecimationFilter
|
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
|
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|
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# 设置SpatialAdvancedFilter
|
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'”…”�”}”hjÅ sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjª hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K¥hj§ hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+hŸh K¥hj– hhh h ubeh }”(h!]”Œid10”ah#]”h%]”Œæ·±åº¦æ»¤æ³¢å™¨é…�ç½®”ah']”h)]”uh+h h K£hh hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒæ•°æ�®æ�•èŽ·ä¸Žæ ¡å‡†ç®¡ç�†”h]”hŒæ•°æ�®æ�•èŽ·ä¸Žæ ¡å‡†ç®¡ç�†”…”�”}”(hjì hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh Khjé h h ubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/save_images”h]”hL)�”}”(hŒ/camera/save_images”h]”hŒ/camera/save_images”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K¯hjý hhh h ubhÂ)�”}”(hŒ=ros2 service call /camera/save_images std_srvs/srv/Empty '{}'”h]”hŒ=ros2 service call /camera/save_images std_srvs/srv/Empty '{}'”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjý hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K¯hjú hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/save_point_cloud”h]”hL)�”}”(hŒ/camera/save_point_cloud”h]”hŒ/camera/save_point_cloud”…”�”}”hj5 sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj1 hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h1h K³hj. hhh h ubhÂ)�”}”(hŒBros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'”h]”hŒBros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'”…”�”}”hjI sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj. hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K³hjú hhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hŸh K¯hjé hhh h ubh-)�”}”(hhh]”h2)�”}”(hŒk注æ„�：以下æœ�务目å‰�仅支æŒ�435Le模å�—。æ¯�个æœ�务一次å�ªèƒ½å˜å‚¨ä¸€ç»„æ•°æ�®æˆ–å—符串。”h]”(h8)�”}”(hŒæ³¨æ„�”h]”hŒæ³¨æ„�”…”�”}”(hjl hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h7hjh hhh h h K ubhŒe：以下æœ�务目å‰�仅支æŒ�435Le模å�—。æ¯�个æœ�务一次å�ªèƒ½å˜å‚¨ä¸€ç»„æ•°æ�®æˆ–å—符串。”…”�”}”(hjh hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h K¸hje hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+h,h K¸hjé hhh h ubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ8/camera/write_customer_data & /camera/read_customer_data”h]”(hL)�”}”(hŒ/camera/write_customer_data”h]”hŒ/camera/write_customer_data”…”�”}”hj” sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj� hhh h h K ubhŒ ”…”�”}”(hj� hhh h h K ubhŒ&”…”�”}”(hj� hhh h h K ubhŒ ”…”�”}”(hj� hhh h h K ubhL)�”}”(hŒ/camera/read_customer_data”h]”hŒ/camera/read_customer_data”…”�”}”hj® sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhj� hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h Kºhj� hhh h ubhÂ)�”}”(hŒ´ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
|
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ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'”h]”hŒ´ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
|
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|
|
ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'”…”�”}”hj sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj� hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h KºhjŠ hhh h ubh¥)�”}”(hhh]”(h2)�”}”(hŒ=/camera/set_user_calib_params & /camera/get_user_calib_params”h]”(hL)�”}”(hŒ /camera/set_user_calib_params”h]”hŒ /camera/set_user_calib_params”…”�”}”hjß sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjÛ hhh h h K ubhŒ ”…”�”}”(hjÛ hhh h h K ubhŒ&”…”�”}”(hjÛ hhh h h K ubhŒ ”…”�”}”(hjÛ hhh h h K ubhL)�”}”(hŒ /camera/get_user_calib_params”h]”hŒ /camera/get_user_calib_params”…”�”}”hjù sbah }”(h!]”h#]”h%]”h']”h)]”uh+hKhjÛ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h1h K¿hjØ hhh h ubhÂ)�”}”(hX> ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
|
|||
|
|
'{k: [614.9613647460938, 0.0, 634.91552734375,
|
|||
|
|
0.0, 614.65771484375, 391.407470703125,
|
|||
|
|
0.0, 0.0, 1.0],
|
|||
|
|
d: [-0.03131488710641861,
|
|||
|
|
0.032955970615148544,
|
|||
|
|
9.096559369936585e-05,
|
|||
|
|
-0.0003368517500348389,
|
|||
|
|
-0.01115430984646082,
|
|||
|
|
0.0, 0.0, 0.0],
|
|||
|
|
rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,
|
|||
|
|
-0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,
|
|||
|
|
0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
|
|||
|
|
translation: [-0.023897956848144532,
|
|||
|
|
-9.439220279455185e-05,
|
|||
|
|
-6.804073229432106e-06]}'
|
|||
|
|
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'”h]”hX> ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
|
|||
|
|
'{k: [614.9613647460938, 0.0, 634.91552734375,
|
|||
|
|
0.0, 614.65771484375, 391.407470703125,
|
|||
|
|
0.0, 0.0, 1.0],
|
|||
|
|
d: [-0.03131488710641861,
|
|||
|
|
0.032955970615148544,
|
|||
|
|
9.096559369936585e-05,
|
|||
|
|
-0.0003368517500348389,
|
|||
|
|
-0.01115430984646082,
|
|||
|
|
0.0, 0.0, 0.0],
|
|||
|
|
rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,
|
|||
|
|
-0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,
|
|||
|
|
0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
|
|||
|
|
translation: [-0.023897956848144532,
|
|||
|
|
-9.439220279455185e-05,
|
|||
|
|
-6.804073229432106e-06]}'
|
|||
|
|
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'”…”�”}”hj
|
|||
|
|
sbah }”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjØ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h¤h K¿hjŠ hhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hŸh Kºhjé hhh h ubeh }”(h!]”Œid11”ah#]”h%]”Œæ•°æ�®æ�•èŽ·ä¸Žæ ¡å‡†ç®¡ç�†”ah']”h)]”uh+h h Khh hhh h ubeh }”(h!]”Œid1”ah#]”h%]”Œ!所有å�¯ç”¨çš„相机控制æœ�务”ah']”h)]”uh+h h Khhhhh h ubah }”(h!]”h#]”h%]”h']”h)]”Œsource”h Œtranslation_progress”}”(Œtotal”K Œ
|
|||
|
|
translated”K uuh+hŒcurrent_source”NŒ current_line”NŒsettings”Œdocutils.frontend”ŒValues”“”)�”}”(Œoutput”NhNŒ generator”NŒ datestamp”NŒ root_prefix”Œ/”Œ source_link”NŒ
|
|||
|
|
source_url”NŒ
|
|||
|
|
toc_backlinks”Œentry”Œfootnote_backlinks”ˆŒ
|
|||
|
|
sectnum_xform”ˆŒstrip_comments”NŒstrip_elements_with_classes”NŒ
|
|||
|
|
strip_classes”NŒ report_level”KŒ
|
|||
|
|
halt_level”KŒexit_status_level”KŒdebug”NŒwarning_stream”NŒ traceback”ˆŒinput_encoding”Œ utf-8-sig”Œ input_encoding_error_handler”Œstrict”Œoutput_encoding”Œutf-8”Œ output_encoding_error_handler”jc
|
|||
|
|
Œerror_encoding”Œutf-8”Œ error_encoding_error_handler”Œbackslashreplace”Œ
|
|||
|
|
language_code”Œzh_CN”Œrecord_dependencies”NŒconfig”NŒ id_prefix”hŒauto_id_prefix”Œid”Œ
|
|||
|
|
dump_settings”NŒdump_internals”NŒdump_transforms”NŒdump_pseudo_xml”NŒexpose_internals”NŒstrict_visitor”NŒ_disable_config”NŒ_source”h Œ _destination”NŒ
|
|||
|
|
_config_files”]”Œfile_insertion_enabled”ˆŒ raw_enabled”KŒline_length_limit”M'Œdoctitle_xform”‰Œ
|
|||
|
|
docinfo_xform”ˆŒsectsubtitle_xform”‰Œ
|
|||
|
|
image_loading”Œlink”Œembed_stylesheet”‰Œcloak_email_addresses”ˆŒ pep_base_url”Œhttps://peps.python.org/”Œpep_references”NŒ rfc_base_url”Œ&https://datatracker.ietf.org/doc/html/”Œrfc_references”NŒsection_self_link”‰Œsmartquotes_locales”]”Œenv”NŒ trim_footnote_reference_space”‰Œ smart_quotes”ˆubŒreporter”NŒindirect_targets”]”Œsubstitution_defs”}”Œsubstitution_names”}”Œrefnames”}”Œrefids”}”Œnameids”}”(j6
|
|||
|
|
j3
|
|||
|
|
j“ j� j3 j0 jÓ jÐ j j j‹ jˆ j) j& jÞ jÛ j“ j� jæ jã j.
|