2025-10-22 03:11:03 +00:00
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OrbbecSDK V2 ROS2 封装
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< li class = "toctree-l1" >< a class = "reference internal" href = "../1_overview/overview.html" > 1. 概述</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../1_overview/introduction.html" > 1.1. 引言</ a >< ul >
< li class = "toctree-l3" >< 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-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#orbbec" > 1.1.2. Orbbec 相机规格书</ a ></ li >
< li class = "toctree-l3" >< 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-l2" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html" > 1.2. Orbbec SDK 概述</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#id1" > 1.2.1. 术语</ a ></ li >
< li class = "toctree-l3" >< 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-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#sdk" > 1.2.3. SDK 概念概述</ a ></ li >
< li class = "toctree-l3" >< 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-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 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 >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/coordinate_systems.html#ros2-tf" > 4.4.1. ROS2 TF工具的使用</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_systems.html#tf" > 4.4.1.1. 查看TF树结构</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_systems.html#rviz2tf" > 4.4.1.2. 使用rviz2可视化TF树</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../4_application_guide/coordinate_systems.html#id1" > 4.4.2. 相机TF计算和发布机制</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform" > 4.4.2.1. 核心函数：< code class = "docutils literal notranslate" >< span class = "pre" > OBCameraNode::calcAndPublishStaticTransform()</ span ></ code ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../4_application_guide/coordinate_systems.html#id2" > 4.4.2.2. 函数解析</ a ></ li >
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2025-10-29 02:21:39 +00:00
< 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 >
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< 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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< 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 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 >
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< 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 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 >
</ ul >
</ li >
< 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 >
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</ 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 current" >< a class = "reference internal" href = "developer_guide.html" > 7. 开发者指南</ a >< ul class = "current" >
< li class = "toctree-l2 current" >< a class = "current reference internal" href = "#" > 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 = "#id1" > 7.1.1. 引言</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#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 = "#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 = "#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 = "#id5" > 7.1.2.3. 维护和更新优势</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#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 = "#id7" > 7.1.3. main 和 v2-main 分支的比较</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id8" > 7.1.3.1. < strong > 启动文件差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id9" > 7.1.3.2. < strong > 参数差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id10" > 7.1.3.3. < strong > 话题差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#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 = "building_a_Debian_Package.html" > 7.2. 构建 Debian 软件包</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "building_a_Debian_Package.html#id1" > 7.2.1. 准备环境</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "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 = "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 >
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< li class = "breadcrumb-item active" >< span class = "section-number" > 7.1. </ span > 从 main 分支迁移到开源 v2-main 分支</ li >
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< h1 >< span class = "section-number" > 7.1. </ span > 从 main 分支迁移到开源 v2-main 分支< a class = "headerlink" href = "#main-v2-main" title = "Link to this heading" > </ a ></ h1 >
< section id = "id1" >
2025-10-22 03:17:31 +00:00
< h2 >< span class = "section-number" > 7.1.1. </ span > 引言< a class = "headerlink" href = "#id1" title = "Link to this heading" > </ a ></ h2 >
2025-10-22 03:11:03 +00:00
< p > 最初，奥比中光提供了一个< strong > 闭源 SDK — Orbbec SDK v1</ strong > ，它构成了 < a class = "reference external" href = "https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" > OrbbecSDK ROS2 Wrapper main 分支</ a > 的基础。虽然 ROS 封装层本身是开源的，但它依赖于闭源的底层 SDK。这种架构限制了灵活性，阻碍了社区驱动的改进。</ p >
< p > 随着开发者越来越需要透明性、可维护性和更广泛的设备支持，奥比中光发布了全新的开源 v2-main < strong > — Orbbec SDK_v2</ strong > (< a class = "reference external" href = "https://github.com/orbbec/OrbbecSDK/tree/v2-main" > GitHub 链接</ a > )。基于此 SDK， < a class = "reference external" href = "https://github.com/orbbec/OrbbecSDK_ROS2" > OrbbecSDK ROS2 的开源 v2-main 分支</ a > 现在完全开源，提供了更好的可扩展性，并与奥比中光未来的产品路线图保持一致。</ p >
< p > 本文档介绍了将 ROS 包从 main 分支（基于 SDK v1）迁移到 v2-main 分支（基于 Orbbec SDK_v2）的动机和好处。它重点介绍了< strong > 启动文件、参数、话题和服务</ strong > 的主要差异，并提供迁移指南帮助开发者顺利过渡。</ p >
< p >< strong > 注意：</ strong > 在以下内容中，< strong > main</ strong > 指闭源分支，而 < strong > v2-main</ strong > 指开源 v2-main 分支。</ p >
</ section >
< section id = "id2" >
2025-10-22 03:17:31 +00:00
< h2 >< span class = "section-number" > 7.1.2. </ span > 从 main 迁移到 v2-main 的优势< a class = "headerlink" href = "#id2" title = "Link to this heading" > </ a ></ h2 >
2025-10-22 03:11:03 +00:00
< p > 2024年10月，奥比中光发布了重大更新：< strong > OrbbecSDK ROS2 Wrapper v2</ strong > ，它完全基于开源的 Orbbec SDK_v2。与传统的 main 分支（SDK v1.x）相比，v2-main 分支（Orbbec SDK_v2.x）提供了更大的灵活性和可扩展性，同时为所有符合 UVC 标准的奥比中光 USB 产品提供全面支持。从 main --> v2-main 的迁移带来以下关键优势：</ p >
< section id = "id3" >
< h3 >< span class = "section-number" > 7.1.2.1. </ span >< strong > 全面的设备支持</ strong >< a class = "headerlink" href = "#id3" title = "Link to this heading" > </ a ></ h3 >
< p > v2-main 分支支持所有符合 UVC 标准的奥比中光 USB 相机，并将成为支持所有新发布设备的主要平台。</ p >
</ section >
< section id = "id4" >
< h3 >< span class = "section-number" > 7.1.2.2. </ span >< strong > 透明性和可扩展性</ strong >< a class = "headerlink" href = "#id4" title = "Link to this heading" > </ a ></ h3 >
< p > Orbbec SDK_v2 完全开源，允许开发者直接访问底层实现，便于调试、优化和二次开发。相比之下，SDK v1 是闭源的，引入了" 黑盒" 约束。</ p >
</ section >
< section id = "id5" >
< h3 >< span class = "section-number" > 7.1.2.3. </ span > 维护和更新优势< a class = "headerlink" href = "#id5" title = "Link to this heading" > </ a ></ h3 >
< p > v2-main 分支提供全功能支持，包括新功能开发、性能优化和错误修复。main 分支已进入仅维护模式，只有关键错误可能获得有限更新，不再开发新功能。</ p >
</ section >
< section id = "id6" >
< h3 >< span class = "section-number" > 7.1.2.4. </ span >< strong > 社区和生态系统支持</ strong >< a class = "headerlink" href = "#id6" title = "Link to this heading" > </ a ></ h3 >
< p > 有了开源 SDK，开发者可以直接在 GitHub 或 Gitee 上提交问题和拉取请求，为功能演进做出贡献。这不仅加速了问题解决，还促进了更开放和活跃的奥比中光生态系统。</ p >
</ section >
</ section >
< section id = "id7" >
< h2 >< span class = "section-number" > 7.1.3. </ span > main 和 v2-main 分支的比较< a class = "headerlink" href = "#id7" title = "Link to this heading" > </ a ></ h2 >
< section id = "id8" >
< h3 >< span class = "section-number" > 7.1.3.1. </ span >< strong > 启动文件差异</ strong >< a class = "headerlink" href = "#id8" title = "Link to this heading" > </ a ></ h3 >
< ol class = "simple" >
< li >< p > 在 v2-main 中，为 Gemini 330 系列添加了新的低功耗启动文件：</ p >
< ul class = "simple" >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > gemini_330_series_low_cpu.launch.py</ span ></ code ></ p ></ li >
</ ul >
</ li >
< li >< p > v2-main 引入了对 < strong > Gemini 435Le</ strong > 、< strong > Gemini 345</ strong > 和 < strong > Gemini 345Lg</ strong > 相机的支持。</ p ></ li >
< li >< p > 由于 < strong > OrbbecSDK_v2 仅支持 UVC 设备</ strong > ，v2-main 中支持的相机型号范围比 main 略窄。详细信息见下表。</ p ></ li >
</ ol >
< table border = "1" class = "docutils" >
< thead >
< tr >
< th >< strong > 相机</ strong ></ th >
< th >< strong > main</ strong ></ th >
< th >< strong > v2-main</ strong ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td > Gemini 435Le</ td >
< td > 不支持</ td >
< td > gemini435_le.launch.py</ td >
</ tr >
< tr >
< td > Gemini 345</ td >
< td > 不支持</ td >
< td > gemini345.launch.py</ td >
</ tr >
< tr >
< td > Gemini 345Lg</ td >
< td > 不支持</ td >
< td > gemini345_lg.launch.py</ td >
</ tr >
< tr >
< td > Gemini 330 系列</ td >
< td > gemini_330_series.launch.py</ td >
< td > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td > Gemini 330 低CPU</ td >
< td > -</ td >
< td > gemini_330_series_low_cpu.launch.py</ td >
</ tr >
< tr >
< td > Gemini 210</ td >
< td > gemini210.launch.py</ td >
< td > gemini210.launch.py</ td >
</ tr >
< tr >
< td > Gemini 2</ td >
< td > gemini2.launch.py</ td >
< td > gemini2.launch.py</ td >
</ tr >
< tr >
< td > Gemini 2L</ td >
< td > gemini2L.launch.py</ td >
< td > gemini2.launch.py</ td >
</ tr >
< tr >
< td > Gemini 2XL</ td >
< td > gemini2XL.launch.py</ td >
< td > -</ td >
</ tr >
< tr >
< td > Femto Bolt</ td >
< td > femto_bolt.launch.py</ td >
< td > femto_bolt.launch.py</ td >
</ tr >
< tr >
< td > Femto Mega</ td >
< td > femto_mega.launch.py</ td >
< td > femto_mega.launch.py</ td >
</ tr >
< tr >
< td > Femto</ td >
< td > femto.launch.py</ td >
< td > femto.launch.py</ td >
</ tr >
< tr >
< td > Astra 2</ td >
< td > astra2.launch.py</ td >
< td > astra2.launch.py</ td >
</ tr >
< tr >
< td > Astra</ td >
< td > astra.launch.py</ td >
< td > astra.launch.py</ td >
</ tr >
< tr >
< td > Astra Mini Pro / S Pro</ td >
< td > astra_mini_pro.launch.py ...</ td >
< td > astra.launch.py</ td >
</ tr >
< tr >
< td > 多相机（同步）</ td >
< td > multi_camera_synced.launch.py</ td >
< td > multi_camera_synced.launch.py</ td >
</ tr >
< tr >
< td > 多相机（通用/通用）</ td >
< td > multi_camera.launch.py</ td >
< td > multi_camera.launch.py 或 orbbec_multicamera.launch.py</ td >
</ tr >
< tr >
< td > 单相机通用启动</ td >
< td > ob_camera.launch.py</ td >
< td > orbbec_camera.launch.py</ td >
</ tr >
< tr >
< td > OpenNI 设备（大白、得雅）</ td >
< td > 对应型号独立文件</ td >
< td > 不支持</ td >
</ tr >
</ tbody >
</ table ></ section >
< section id = "id9" >
< h3 >< span class = "section-number" > 7.1.3.2. </ span >< strong > 参数差异</ strong >< a class = "headerlink" href = "#id9" title = "Link to this heading" > </ a ></ h3 >
< p >< strong > v2-main 中的新参数（main 中不可用）</ strong ></ p >
< table border = "1" class = "docutils" >
< thead >
< tr >
< th >< strong > 参数名称</ strong ></ th >
< th >< strong > main</ strong ></ th >
< th >< strong > v2-main</ strong ></ th >
< th >< strong > 描述</ strong ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td > upgrade_firmware</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 固件升级路径</ td >
</ tr >
< tr >
< td > preset_firmware_path</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 预设固件文件路径</ td >
</ tr >
< tr >
< td > load_config_json_file_path</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 加载 JSON 配置</ td >
</ tr >
< tr >
< td > export_config_json_file_path</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 导出 JSON 配置</ td >
</ tr >
< tr >
< td > uvc_backend</ td >
< td > -</ td >
< td > 已添加</ td >
< td > libuvc / v4l2 后端选择</ td >
</ tr >
< tr >
< td > enable_color_auto_exposure_priority</ td >
< td > -</ td >
< td > 已添加</ td >
< td > AE 优先级控制</ td >
</ tr >
< tr >
< td > color_flip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 彩色图像垂直翻转</ td >
</ tr >
< tr >
< td > color_mirror</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 彩色图像水平镜像</ td >
</ tr >
< tr >
< td > depth_flip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 深度图像垂直翻转</ td >
</ tr >
< tr >
< td > depth_mirror</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 深度图像水平镜像</ td >
</ tr >
< tr >
< td > left_ir_flip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 左红外垂直翻转</ td >
</ tr >
< tr >
< td > left_ir_mirror</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 左红外水平镜像</ td >
</ tr >
< tr >
< td > right_ir_flip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 右红外垂直翻转</ td >
</ tr >
< tr >
< td > right_ir_mirror</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 右红外水平镜像</ td >
</ tr >
< tr >
< td > enable_left_ir_sequence_id_filter</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 左红外序列 ID 滤波器</ td >
</ tr >
< tr >
< td > enable_right_ir_sequence_id_filter</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 右红外序列 ID 滤波器</ td >
</ tr >
< tr >
< td > enable_accel_data_correction</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 加速度计数据校正</ td >
</ tr >
< tr >
< td > enable_gyro_data_correction</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 陀螺仪数据校正</ td >
</ tr >
< tr >
< td > enumerate_net_device</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 自动枚举网络设备</ td >
</ tr >
< tr >
< td > net_device_ip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 网络设备 IP 地址</ td >
</ tr >
< tr >
< td > net_device_port</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 网络设备端口</ td >
</ tr >
< tr >
< td > exposure_range_mode</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 曝光范围模式：default / ultimate / regular</ td >
</ tr >
< tr >
< td > disparity_to_depth_mode</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 硬件视差到深度转换</ td >
</ tr >
< tr >
< td > ldp_power_level</ td >
< td > -</ td >
< td > 已添加</ td >
< td > LDP 功率级别</ td >
</ tr >
< tr >
< td > time_sync_period</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 时间同步周期</ td >
</ tr >
< tr >
< td > gmsl_trigger_fps</ td >
< td > -</ td >
< td > 已添加</ td >
< td > GMSL 触发帧率</ td >
</ tr >
< tr >
< td > enable_gmsl_trigger</ td >
< td > -</ td >
< td > 已添加</ td >
< td > GMSL 触发启用</ td >
</ tr >
< tr >
< td > disparity_range_mode</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 视差范围模式</ td >
</ tr >
< tr >
< td > disparity_search_offset</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 视差搜索偏移</ td >
</ tr >
< tr >
< td > disparity_offset_config</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 视差偏移配置</ td >
</ tr >
< tr >
< td > offset_index0</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 视差偏移索引 0</ td >
</ tr >
< tr >
< td > offset_index1</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 视差偏移索引 1</ td >
</ tr >
< tr >
< td > interleave_ae_mode</ td >
< td > -</ td >
< td > 已添加</ td >
< td > AE 交错模式</ td >
</ tr >
< tr >
< td > interleave_frame_enable</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 交错帧启用</ td >
</ tr >
< tr >
< td > interleave_skip_enable</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 跳过红外帧启用</ td >
</ tr >
< tr >
< td > interleave_skip_index</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 跳过红外帧索引</ td >
</ tr >
< tr >
< td > hdr_index1_laser_control</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 激光控制参数</ td >
</ tr >
< tr >
< td > hdr_index1_depth_exposure</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 深度曝光</ td >
</ tr >
< tr >
< td > hdr_index1_depth_gain</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 深度增益</ td >
</ tr >
< tr >
< td > hdr_index1_ir_brightness</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 红外亮度</ td >
</ tr >
< tr >
< td > hdr_index1_ir_ae_max_exposure</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 红外最大 AE</ td >
</ tr >
< tr >
< td > hdr_index0_laser_control</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 激光控制参数</ td >
</ tr >
< tr >
< td > hdr_index0_depth_exposure</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 深度曝光</ td >
</ tr >
< tr >
< td > hdr_index0_depth_gain</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 深度增益</ td >
</ tr >
< tr >
< td > hdr_index0_ir_brightness</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 红外亮度</ td >
</ tr >
< tr >
< td > hdr_index0_ir_ae_max_exposure</ td >
< td > -</ td >
< td > 已添加</ td >
< td > HDR 红外最大 AE</ td >
</ tr >
< tr >
< td > laser_index1_laser_control</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光交错控制</ td >
</ tr >
< tr >
< td > laser_index1_depth_exposure</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光深度曝光</ td >
</ tr >
< tr >
< td > laser_index1_depth_gain</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光深度增益</ td >
</ tr >
< tr >
< td > laser_index1_ir_brightness</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光红外亮度</ td >
</ tr >
< tr >
< td > laser_index1_ir_ae_max_exposure</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光红外最大 AE</ td >
</ tr >
< tr >
< td > laser_index0_laser_control</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光交错控制</ td >
</ tr >
< tr >
< td > laser_index0_depth_exposure</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光深度曝光</ td >
</ tr >
< tr >
< td > laser_index0_depth_gain</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光深度增益</ td >
</ tr >
< tr >
< td > laser_index0_ir_brightness</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光红外亮度</ td >
</ tr >
< tr >
< td > laser_index0_ir_ae_max_exposure</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 激光红外最大 AE</ td >
</ tr >
< tr >
< td > software_trigger_enabled</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 软件触发启用</ td >
</ tr >
< tr >
< td > enable_ptp_config</ td >
< td > -</ td >
< td > 已添加</ td >
< td > PTP 配置（Gemini 335Le） </ td >
</ tr >
< tr >
< td > align_target_stream</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 对齐目标流</ td >
</ tr >
< tr >
< td > spatial_fast_filter_radius</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 快速空间滤波器半径</ td >
</ tr >
< tr >
< td > spatial_moderate_filter_diff_threshold</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 中等空间滤波器差异阈值</ td >
</ tr >
< tr >
< td > spatial_moderate_filter_magnitude</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 中等空间滤波器幅度</ td >
</ tr >
< tr >
< td > spatial_moderate_filter_radius</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 中等空间滤波器半径</ td >
</ tr >
< tr >
< td > color.image_raw.enable_pub_plugins</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 彩色图像传输插件</ td >
</ tr >
< tr >
< td > depth.image_raw.enable_pub_plugins</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 深度图像传输插件</ td >
</ tr >
< tr >
< td > left_ir.image_raw.enable_pub_plugins</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 左红外传输插件</ td >
</ tr >
< tr >
< td > right_ir.image_raw.enable_pub_plugins</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 右红外传输插件</ td >
</ tr >
< tr >
< td > force_ip_enable</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 强制 IP 功能</ td >
</ tr >
< tr >
< td > force_ip_mac</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 强制 IP MAC 地址</ td >
</ tr >
< tr >
< td > force_ip_dhcp</ td >
< td > -</ td >
< td > 已添加</ td >
< td > DHCP 自动分配</ td >
</ tr >
< tr >
< td > force_ip_address</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 强制 IP 静态地址</ td >
</ tr >
< tr >
< td > force_ip_subnet_mask</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 强制 IP 子网掩码</ td >
</ tr >
< tr >
< td > force_ip_gateway</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 强制 IP 网关</ td >
</ tr >
</ tbody >
</ table >< p >< strong > 已移除参数（仅 main 有，v2-main 中已移除）</ strong ></ p >
< table border = "1" class = "docutils" >
< thead >
< tr >
< th >< strong > 参数</ strong ></ th >
< th >< strong > 描述</ strong ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td > enable_3d_reconstruction_mode</ td >
< td > 3D 重建模式已弃用</ td >
</ tr >
< tr >
< td > enable_hardware_reset</ td >
< td > 硬件重置接口已弃用</ td >
</ tr >
< tr >
< td > enable_hardware_noise_removal_filter</ td >
< td > 硬件噪声去除滤波器已弃用</ td >
</ tr >
< tr >
< td > laser_on_off_mode</ td >
< td > 旧激光开关接口，由 interleave / laser_index 替换</ td >
</ tr >
< tr >
< td > enable_3d_reconstruction_mode</ td >
< td > 3D 重建模式重复；v2-main 中不再使用</ td >
</ tr >
< tr >
< td > device_preset</ td >
< td > 部分逻辑迁移到新固件 / 交错参数</ td >
</ tr >
< tr >
< td > enable_trigger_out</ td >
< td > 旧软件触发接口由 software_trigger_enabled 替换</ td >
</ tr >
< tr >
< td > retry_on_usb3_detection_failure</ td >
< td > 可选；v2-main 中逻辑已调整或移除</ td >
</ tr >
< tr >
< td > enable_color_undistortion</ td >
< td > 旧接口逻辑集成到其他地方；v2-main 中仍存在但使用可能已调整</ td >
</ tr >
</ tbody >
</ table ></ section >
< section id = "id10" >
< h3 >< span class = "section-number" > 7.1.3.3. </ span >< strong > 话题差异</ strong >< a class = "headerlink" href = "#id10" title = "Link to this heading" > </ a ></ h3 >
< p >< strong > v2-main</ strong > 在 main 基础上添加了以下话题：</ p >
< table border = "1" class = "docutils" >
< thead >
< tr >
< th >< strong > 话题</ strong ></ th >
< th >< strong > main</ strong ></ th >
< th >< strong > v2-main</ strong ></ th >
< th >< strong > 描述</ strong ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td > /camera/device_status</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 发布设备状态（帧率延迟、设备连接状态等）</ td >
</ tr >
</ tbody >
</ table ></ section >
< section id = "id11" >
< h3 >< span class = "section-number" > 7.1.3.4. </ span >< strong > 服务差异</ strong >< a class = "headerlink" href = "#id11" title = "Link to this heading" > </ a ></ h3 >
< p >< strong > v2-main</ strong > 在 main 基础上添加了以下服务：</ p >
< table border = "1" class = "docutils" >
< thead >
< tr >
< th >< strong > 服务</ strong ></ th >
< th >< strong > main</ strong ></ th >
< th >< strong > v2-main</ strong ></ th >
< th >< strong > 描述</ strong ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td > get_ptp_config</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 获取 PTP 配置</ td >
</ tr >
< tr >
< td > set_ptp_config</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置 PTP 配置</ td >
</ tr >
< tr >
< td > get_streams_enable</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 获取每个流的启用状态</ td >
</ tr >
< tr >
< td > set_streams_enable</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置每个流的启用状态</ td >
</ tr >
< tr >
< td > get_user_calib_params</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 获取用户校准参数</ td >
</ tr >
< tr >
< td > set_user_calib_params</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置用户校准参数</ td >
</ tr >
< tr >
< td > read_customer_data</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 读取用户存储的自定义数据</ td >
</ tr >
< tr >
< td > write_customer_data</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 写入用户存储的自定义数据</ td >
</ tr >
< tr >
< td > send_software_trigger</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 发送软件触发</ td >
</ tr >
< tr >
< td > set_color_ae_roi</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置彩色图像的 AE ROI</ td >
</ tr >
< tr >
< td > set_depth_ae_roi</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置深度图像的 AE ROI</ td >
</ tr >
< tr >
< td > set_color_flip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置彩色图像垂直翻转</ td >
</ tr >
< tr >
< td > set_depth_flip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置深度图像垂直翻转</ td >
</ tr >
< tr >
< td > set_color_rotation</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置彩色图像旋转</ td >
</ tr >
< tr >
< td > set_depth_rotation</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置深度图像旋转</ td >
</ tr >
< tr >
< td > set_left_ir_ae_roi</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置左红外的 AE ROI</ td >
</ tr >
< tr >
< td > set_right_ir_ae_roi</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置右红外的 AE ROI</ td >
</ tr >
< tr >
< td > set_left_ir_flip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 左红外垂直翻转</ td >
</ tr >
< tr >
< td > set_right_ir_flip</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 右红外垂直翻转</ td >
</ tr >
< tr >
< td > set_left_ir_rotation</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 左红外旋转</ td >
</ tr >
< tr >
< td > set_right_ir_rotation</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 右红外旋转</ td >
</ tr >
< tr >
< td > set_reset_timestamp</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 重置时间戳</ td >
</ tr >
< tr >
< td > set_sync_hosttime</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 同步主机时间</ td >
</ tr >
< tr >
< td > set_sync_interleaverlaser</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 交错激光同步</ td >
</ tr >
< tr >
< td > set_filter</ td >
< td > -</ td >
< td > 已添加</ td >
< td > 设置深度/点云滤波器</ td >
</ tr >
</ tbody >
</ table ></ section >
</ section >
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