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OrbbecSDK V2 ROS2 封装
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< li class = "toctree-l1 current" >< a class = "reference internal" href = "../index.html" > Camera Devices</ a >< ul class = "current" >
< li class = "toctree-l2" >< a class = "reference internal" href = "../1_overview/overview.html" > 1. 概述</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html" > 1.1. 引言</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../1_overview/introduction.html#id2" > 1.1.1. 支持的硬件产品</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../1_overview/introduction.html#orbbec" > 1.1.2. Orbbec 相机规格书</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../1_overview/introduction.html#id3" > 1.1.3. 支持的平台</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html" > 1.2. Orbbec SDK 概述</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#id1" > 1.2.1. 术语</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2" > 1.2.2. Orbbec SDK v2 架构概述</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#sdk" > 1.2.3. SDK 概念概述</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#id2" > 1.2.4. SDK 编程模型</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/installation.html" > 2. 安装</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html" > 2.1. 环境配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#id2" > 2.2. 二进制安装</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#id3" > 2.3. 从源码构建</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/registration_script.html" > 2.4. 注册脚本（必需）</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../2_installation/registration_script.html#id2" > 2.4.1. 二进制安装</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../2_installation/registration_script.html#id3" > 2.4.2. 从源码构建</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/quickstarts.html" > 3. 快速开始</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html" > 3.1. ROS 包快速入门</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id1" > 3.1.1. 简介</ a ></ li >
< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id4" > 3.1.3. 示例功能</ a >< ul >
< li class = "toctree-l5" >< 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-l5" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id6" > 3.1.3.2. 回显话题</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id7" > 3.1.3.3. 调用服务</ a ></ li >
< li class = "toctree-l5" >< 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-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html" > 3.2. OrbbecViewer 快速入门</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id1" > 3.2.1. 下载</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id2" > 3.2.2. 连接设备</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id3" > 3.2.3. 相机控制</ a ></ li >
< li class = "toctree-l4" >< 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-l2" >< a class = "reference internal" href = "../4_application_guide/application_guide.html" > 4. 应用指南</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html" > 4.1. 启动参数</ a >< ul >
< li class = "toctree-l4" >< 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-l4" >< 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-l5" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id4" > 4.1.2.1. 彩色流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id5" > 4.1.2.2. 深度流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id6" > 4.1.2.3. 红外流</ a ></ li >
< li class = "toctree-l5" >< 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 >
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< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#id11" > 4.1.3.4. 视差</ a ></ li >
< li class = "toctree-l5" >< 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-l5" >< 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 >
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< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l4" >< a class = "reference internal" href = "../4_application_guide/launch_parameters.html#imu" > 4.1.5. IMU</ a ></ li >
< li class = "toctree-l4" >< 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 >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/services.html" > 4.2. 可用服务</ a >< ul >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id2" > 4.2.1. 数据流控制</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/services.html#id3" > 4.2.1.1. 彩色流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/services.html#id4" > 4.2.1.2. 深度流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/services.html#id5" > 4.2.1.3. 红外流</ a ></ li >
< li class = "toctree-l5" >< 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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</ ul >
</ li >
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< li class = "toctree-l4" >< 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-l4" >< 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-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id9" > 4.2.4. 同步与触发</ a ></ li >
< li class = "toctree-l4" >< 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-l4" >< 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-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id12" > 4.2.7. 特定设备</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/services.html#id13" > 4.2.8. 点云下采样</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/topics.html" > 4.3. 可用话题</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/topics.html#id2" > 4.3.1. 图像流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/topics.html#id3" > 4.3.2. 点云话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/topics.html#imu" > 4.3.3. IMU话题</ a ></ li >
< li class = "toctree-l4" >< 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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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html" > 4.4. 坐标系和 TF 变换</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#id1" > 4.4.1. 相机传感器结构</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#abtf" > 4.4.2. 从坐标系A到坐标系B的TF变换：</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#ros2-vs" > 4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#ros2-tf" > 4.4.4. ROS2 TF工具的使用</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#id2" > 4.4.4.1. 查看TF树结构</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#rviz2tf" > 4.4.4.2. 使用rviz2可视化TF树</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#id3" > 4.4.5. 相机TF计算和发布机制</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform" > 4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/coordinate_and_tf.html#id4" > 4.4.5.2. 函数解析</ a ></ li >
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</ li >
</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/compressed_image.html" > 4.5. 压缩图像</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html" > 4.6. 在ROS 2中启用和可视化点云</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id1" > 4.6.1. 启用深度点云</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id2" > 4.6.1.1. 启用深度点云的命令</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#rviz2" > 4.6.1.2. 在RViz2中可视化深度点云</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id3" > 4.6.2. 启用彩色点云</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id4" > 4.6.2.1. 启用彩色点云的命令</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../4_application_guide/point_cloud.html#id5" > 4.6.2.2. 在RViz2中可视化彩色点云</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html" > 5. 高级指南</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id2" > 5.1. 性能与优化</ a >< ul >
< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< 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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</ ul >
</ li >
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< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#id3" > 5.1.2.2. 示例</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< 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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</ ul >
</ li >
</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id3" > 5.2. 多相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html" > 5.2.1. 多相机</ a >< ul >
< li class = "toctree-l5" >< 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-l5" >< 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 >
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</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< 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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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html" > 5.2.3. 多相机同步验证节点</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2" > 5.2.3.1. 使用教程</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5" > 5.2.3.2. 必要系统配置</ a ></ li >
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</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html" > 5.2.4. GMSL 相机</ a >< ul >
< li class = "toctree-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< 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 >
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</ ul >
</ li >
</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id4" > 5.3. 配置与模式</ a >< ul >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html" > 5.3.1. 对齐深度到彩色</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#id2" > 5.3.1.1. 对齐和查看深度和彩色图像的命令</ a ></ li >
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< li class = "toctree-l5" >< 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 >
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< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#id3" > 5.3.1.3. 深度到彩色叠加示例</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< 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-l4" >< 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-l4" >< 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-l5" >< 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-l5" >< 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-l5" >< 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 >
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</ ul >
</ li >
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< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< 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-l5" >< 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 >
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</ ul >
</ li >
2026-01-23 07:26:44 +00:00
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html" > 5.3.6. 设备预设</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html#gemini-330-gemini-330l-gemini-335-gemini-335l" > 5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html#gemini-336-gemini-336l" > 5.3.6.2. Gemini 336 / Gemini 336L</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html#gemini-2" > 5.3.6.3. Gemini 2</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html#gemini-2l" > 5.3.6.4. Gemini 2L</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html#gemini-305" > 5.3.6.5. Gemini 305</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html#id2" > 5.3.6.6. 扩展预设</ a ></ li >
</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html" > 5.3.7. 网络相机</ a >< ul >
< li class = "toctree-l5" >< 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-l5" >< 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-l5" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#ip" > 5.3.7.3. 强制 IP 功能</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/benchmark.html" > 6. 性能基准测试</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/introduction.html" > 6.1. 介绍</ a >< ul >
< li class = "toctree-l4" >< 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-l4" >< a class = "reference internal" href = "../6_benchmark/introduction.html#id3" > 6.1.2. 服务基准测试节点</ a ></ li >
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</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l3" >< 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-l4" >< 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-l4" >< 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-l5" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#ros2-c" > 6.2.2.1. ROS2 C++</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#ros2-python" > 6.2.2.2. ROS2 Python</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#yaml" > 6.2.2.3. < strong > 示例 YAML 配置</ strong ></ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l3" >< 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-l4" >< 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-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html#id3" > 6.3.2. 服务基准测试数据</ a ></ li >
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</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/othertools.html" > 6.4. 其他工具</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#ob-benchmark" > 6.4.1. Ob_benchmark 工具</ a >< ul >
< li class = "toctree-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< a class = "reference internal" href = "../6_benchmark/othertools.html#id4" > 6.4.1.4. 输出数据文件</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/developer_guide.html" > 7. 开发者指南</ a >< ul >
< li class = "toctree-l3" >< 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 >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id1" > 7.1.1. 引言</ a ></ li >
< li class = "toctree-l4" >< 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 >
< li class = "toctree-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< 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 >
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</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l4" >< 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-l5" >< 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-l5" >< 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-l5" >< 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-l5" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id11" > 7.1.3.4. < strong > 服务差异</ strong ></ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l3" >< 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-l4" >< 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-l4" >< 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-l4" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#id2" > 7.2.3. 构建软件包</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
2026-01-04 01:36:46 +00:00
< li class = "toctree-l2 current" >< a class = "current reference internal" href = "#" > 8. 常见问题</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id2" > 8.1. 意外崩溃</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id3" > 8.2. 多相机无数据流</ a ></ li >
2026-02-05 06:28:53 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "#id4" > 8.3. 如何采集和保存日志</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "#id5" > 8.4. 为什么有这么多启动文件？</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id6" > 8.5. 多相机连接时如何指定启动某一个相机</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id7" > 8.6. 多相机启动或切换流时为什么需要设置延迟？</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#femto-bolt" > 8.7. femto bolt 深度流无数据</ a ></ li >
2026-01-13 11:20:30 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "#id8" > 8.8. 图像未达到预设帧率</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id9" > 8.9. 软触发模式相关问题</ a ></ li >
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</ ul >
</ li >
2026-01-04 01:19:58 +00:00
</ ul >
</ li >
< li class = "toctree-l1" >< a class = "reference internal" href = "../../lidar_devices/index.html" > Lidar Devices</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../../lidar_devices/lidar.html" > 1. 安装</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id2" > 1.1. 先决条件</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#deb" > 1.2. 安装deb依赖项</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#udev" > 1.3. 安装udev规则</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id3" > 1.4. 构建包</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id4" > 1.5. 启动激光雷达节点</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id5" > 2. 使用方法</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id6" > 2.1. 运行驱动</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id7" > 2.2. 获取已连接激光雷达的设备信息</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id8" > 2.3. 检查激光雷达支持的配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id9" > 2.4. 2.4 参数和配置</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id10" > 3. 点云数据详细说明</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id11" > 3.1. 点云格式</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id12" > 3.2. 点云聚合功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id13" > 3.2.1. 功能特点：</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id14" > 3.2.2. 使用示例：</ a ></ li >
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</ li >
</ ul >
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</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#imu" > 4. IMU数据</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id15" > 4.1. IMU话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id16" > 4.2. 使用IMU数据</ a ></ li >
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< li class = "breadcrumb-item active" >< span class = "section-number" > 8. </ span > 常见问题</ li >
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< h1 >< span class = "section-number" > 8. </ span > 常见问题< a class = "headerlink" href = "#id1" title = "链接到此标题。" > </ a ></ h1 >
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< section id = "id2" >
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< h2 >< span class = "section-number" > 8.1. </ span > 意外崩溃< a class = "headerlink" href = "#id2" title = "链接到此标题。" > </ a ></ h2 >
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< p > 如果相机节点意外崩溃，它将在当前运行目录中生成崩溃日志：< code class = "docutils literal notranslate" >< span class = "pre" > Log/camera_crash_stack_trace_xx.log</ span ></ code > 。请将此日志发送给支持团队或提交到GitHub issue以获得进一步帮助。</ p >
</ section >
< section id = "id3" >
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< h2 >< span class = "section-number" > 8.2. </ span > 多相机无数据流< a class = "headerlink" href = "#id3" title = "链接到此标题。" > </ a ></ h2 >
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< p >< strong > 电源供应不足</ strong > ： </ p >
< ul class = "simple" >
< li >< p > 确保每个相机连接到单独的集线器。</ p ></ li >
< li >< p > 使用有源集线器为每个相机提供足够的电力。</ p ></ li >
</ ul >
< p >< strong > 高分辨率</ strong > ： </ p >
< ul class = "simple" >
< li >< p > 尝试降低分辨率以解决数据流问题。</ p ></ li >
</ ul >
< p >< strong > 增加usbfs_memory_mb值</ strong > ： </ p >
< ul class = "simple" >
< li >< p > 通过运行以下命令将 < code class = "docutils literal notranslate" >< span class = "pre" > usbfs_memory_mb</ span ></ code > 值增加到128MB（这是参考值，可根据系统需求调整）：</ p ></ li >
</ ul >
< div class = "highlight-default notranslate" >< div class = "highlight" >< pre >< span ></ span > < span class = "n" > echo</ span > < span class = "mi" > 128</ span > < span class = "o" > |</ span > < span class = "n" > sudo</ span > < span class = "n" > tee</ span > < span class = "o" > /</ span >< span class = "n" > sys</ span >< span class = "o" > /</ span >< span class = "n" > module</ span >< span class = "o" > /</ span >< span class = "n" > usbcore</ span >< span class = "o" > /</ span >< span class = "n" > parameters</ span >< span class = "o" > /</ span >< span class = "n" > usbfs_memory_mb</ span >
</ pre ></ div >
</ div >
< ul class = "simple" >
< li >< p > 要使此更改永久生效，请查看< a class = "reference external" href = "https://github.com/OpenKinect/libfreenect2/issues/807" > 此链接</ a > 。</ p ></ li >
</ ul >
</ section >
< section id = "id4" >
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< h2 >< span class = "section-number" > 8.3. </ span > 如何采集和保存日志< a class = "headerlink" href = "#id4" title = "链接到此标题。" > </ a ></ h2 >
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< p >< strong > 1. SDK debug 日志</ strong ></ p >
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< p > 将 launch 参数 < code class = "docutils literal notranslate" >< span class = "pre" > log_level</ span ></ code > 设为 < code class = "docutils literal notranslate" >< span class = "pre" > debug</ span ></ code > 运行后，会在当前工程目录下的 < code class = "docutils literal notranslate" >< span class = "pre" > Log/</ span ></ code > 文件夹中生成 SDK 日志文件。如果需要为本次测试指定一个更易识别的日志文件名，可以修改参数 < code class = "docutils literal notranslate" >< span class = "pre" > log_file_name</ span ></ code > 。</ p >
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< ul class = "simple" >
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< li >< p > SDK 日志是追加写入的：多次启动会在同一个文件里不断累积日志。</ p ></ li >
< li >< p > 建议：在准备打包日志发给技术支持前，先删除旧的日志文件，然后重新复现问题并采集新的日志，这样日志更干净、定位更准确。</ p ></ li >
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</ ul >
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< p >< strong > 2. ROS2 日志（~/.ros/log） </ strong ></ p >
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< p > 在 launch 文件中，将节点（或可组合节点容器）的 < code class = "docutils literal notranslate" >< span class = "pre" > output</ span ></ code > 参数设为 < code class = "docutils literal notranslate" >< span class = "pre" > " log" </ span ></ code > ，即可将 ROS2 日志保存到本地：</ p >
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< ul class = "simple" >
< li >< p > 设置为 < code class = "docutils literal notranslate" >< span class = "pre" > output=" log" </ span ></ code > 后，ROS2 日志将保存在 < code class = "docutils literal notranslate" >< span class = "pre" > ~/.ros/log/</ span ></ code > 目录下。</ p ></ li >
< li >< p > 如需提交问题，请同时打包 < code class = "docutils literal notranslate" >< span class = "pre" > Log/</ span ></ code > 目录下的 SDK 日志和 < code class = "docutils literal notranslate" >< span class = "pre" > ~/.ros/log/</ span ></ code > 下对应时间的 ROS2 日志，一并提供。</ p ></ li >
</ ul >
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</ section >
< section id = "id5" >
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< h2 >< span class = "section-number" > 8.4. </ span > 为什么有这么多启动文件？< a class = "headerlink" href = "#id5" title = "链接到此标题。" > </ a ></ h2 >
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< ul class = "simple" >
< li >< p > 不同的相机具有不同的默认分辨率和图像格式。</ p ></ li >
< li >< p > 为简化使用，每个相机都有自己的启动文件。</ p ></ li >
</ ul >
</ section >
< section id = "id6" >
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< h2 >< span class = "section-number" > 8.5. </ span > 多相机连接时如何指定启动某一个相机< a class = "headerlink" href = "#id6" title = "链接到此标题。" > </ a ></ h2 >
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< p > 如果启动文件未显式指定要使用的设备，在同时连接多台相机时，驱动会默认连接到其中一个（默认设备）。</ p >
< p > 可以先通过以下命令查看设备序列号：</ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > run< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > list_devices_node
</ pre ></ div >
</ div >
< p > 然后在启动时显式指定序列号，例如：</ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > femto_bolt.launch.py< span class = "w" > </ span > serial_number:< span class = "o" > =</ span > CL8H741005J
</ pre ></ div >
</ div >
</ section >
< section id = "id7" >
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< h2 >< span class = "section-number" > 8.6. </ span > 多相机启动或切换流时为什么需要设置延迟？< a class = "headerlink" href = "#id7" title = "链接到此标题。" > </ a ></ h2 >
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< p > 多相机系统对带宽和设备初始化时序要求较高。如果在同一时间启动或切换多个相机流，可能会引发带宽瞬时拥塞，进而导致设备初始化失败、流启动异常或丢帧等问题。为确保系统稳定性，建议注意以下几点：</ p >
< ul >
< li >< p >< strong > 多相机启动阶段</ strong ></ p >
< p > 在启动多个相机时，建议在每个相机启动之间增加适当的延迟（例如 < strong > 2s</ strong > ），以避免瞬时带宽过载或底层设备初始化冲突。</ p >
</ li >
< li >< p >< strong > 流开关与模式切换阶段</ strong ></ p >
< p > 在调用开关流相关服务（如 < code class = "docutils literal notranslate" >< span class = "pre" > set_streams_enable</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > toggle_depth</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > toggle_color</ span ></ code > ）时，不建议同时触发多个接口调用，应在各操作之间设置合理的时间间隔（例如 < strong > 20 ms</ strong > ），以保证流状态切换的可靠性。</ p >
</ li >
</ ul >
< p > 遵循上述时序控制原则，有助于提升多相机系统在启动和运行过程中的稳定性，减少异常和不可预期行为的发生。</ p >
</ section >
< section id = "femto-bolt" >
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< h2 >< span class = "section-number" > 8.7. </ span > femto bolt 深度流无数据< a class = "headerlink" href = "#femto-bolt" title = "链接到此标题。" > </ a ></ h2 >
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< p > 该模组运行时依赖 OpenGL 库，若系统未安装或驱动不完整，将导致深度流无数据。请先安装 OpenGL 相关库（以 Ubuntu 为例）：</ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "w" > </ span > sudo< span class = "w" > </ span > apt< span class = "w" > </ span > update< span class = "w" > </ span >< span class = "o" > && </ span >< span class = "w" > </ span > sudo< span class = "w" > </ span > apt< span class = "w" > </ span > install< span class = "w" > </ span > -y< span class = "w" > </ span > mesa-utils< span class = "w" > </ span > libgl1-mesa-glx< span class = "w" > </ span > libglu1-mesa
</ pre ></ div >
</ div >
< p > 安装后可通过以下命令检查 OpenGL 是否可用：</ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "w" > </ span > glxinfo< span class = "w" > </ span > -B
</ pre ></ div >
</ div >
</ section >
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< section id = "id8" >
< h2 >< span class = "section-number" > 8.8. </ span > 图像未达到预设帧率< a class = "headerlink" href = "#id8" title = "链接到此标题。" > </ a ></ h2 >
< p > 首先需要确认图像是否确实未达到预设帧率。在 ROS 2 中可通过多种方式查看帧率，例如：</ p >
< ul class = "simple" >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > ros2</ span > < span class = "pre" > topic</ span > < span class = "pre" > hz</ span ></ code ></ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > rqt</ span ></ code ></ p ></ li >
< li >< p > 自定义工具（如本 ROS 包提供的 < code class = "docutils literal notranslate" >< span class = "pre" > benchmark</ span ></ code > 工具）</ p ></ li >
</ ul >
< p > 需要注意的是，不同工具的统计方式和 QoS 配置不同，因此得到的帧率结果可能存在差异。当发现帧率低于预期时，请优先排查是否为帧率统计工具本身导致的误差。</ p >
< p > 若确认图像帧率确实未达到预设值，可尝试以下排查步骤：</ p >
< ol class = "simple" >
< li >< p >< strong > 降低分辨率或帧率</ strong > ，判断是否由于 USB / 网络带宽受限导致帧率下降；</ p ></ li >
< li >< p >< strong > 确认相机固件版本及 ROS 包版本是否为最新</ strong > ，旧版本可能存在性能或兼容性问题。</ p ></ li >
</ ol >
< p > 若以上方法仍无法解决问题，请联系我司 < strong > FAE</ strong > ，或在 < strong > GitHub Issue</ strong > 中提交问题以获得进一步支持。</ p >
</ section >
< section id = "id9" >
< h2 >< span class = "section-number" > 8.9. </ span > 软触发模式相关问题< a class = "headerlink" href = "#id9" title = "链接到此标题。" > </ a ></ h2 >
< ul >
< li >< p >< strong > 信号触发时各传感器未同时出流</ strong >
请开启帧汇聚功能，将参数< code class = "docutils literal notranslate" >< span class = "pre" > frame_aggregate_mode</ span ></ code > 设置为< code class = "docutils literal notranslate" >< span class = "pre" > full_frame</ span ></ code > ，以保证多传感器数据在同一次触发下同步输出。</ p ></ li >
< li >< p >< strong > 自动触发模式下无法达到预设帧率</ strong >
设置 < code class = "docutils literal notranslate" >< span class = "pre" > software_trigger_period</ span ></ code > 时，需要综合考虑实际开流帧率与曝光时间。例如，当 < code class = "docutils literal notranslate" >< span class = "pre" > color_fps</ span ></ code > 设置为 10 FPS 时，< code class = "docutils literal notranslate" >< span class = "pre" > software_trigger_period</ span ></ code > 不能低于以下计算值：</ p >
< div class = "highlight-default notranslate" >< div class = "highlight" >< pre >< span ></ span > software_trigger_period ≥ 1000000 / fps × ×
</ pre ></ div >
</ div >
< p > 其中：</ p >
< ul class = "simple" >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > fps</ span ></ code > ：传感器帧率</ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > N</ span ></ code > ：单次触发采集的帧数量</ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > expo</ span ></ code > ：曝光时间</ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > 单位</ span ></ code > ：µs</ p ></ li >
</ ul >
< p > 若 < code class = "docutils literal notranslate" >< span class = "pre" > software_trigger_period</ span ></ code > 设置过小，将导致触发频率受限，从而丢帧。</ p >
</ li >
</ ul >
</ section >
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