OrbbecSDK_ROS2/zh/.doctrees/source/7_developer_guide/migration_guide.doctree

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最åˆ�，奥比中光æ��供了一个闭æº� SDK — Orbbec SDK v1，它构æˆ�了 OrbbecSDK ROS2 Wrapper main 分支的基础。虽然 ROS å°�装层本身是开æº�的，但它ä¾�赖于闭æº�的底层 SDK。这ç§�架构é™�制了ç�µæ´»æ€§ï¼Œé˜»ç¢�了社区驱动的改进。”h]”(hŒ$最åˆ�，奥比中光æ��供了一个”…”�”}”(hh?hhhhhKubhŒstrong”“”)�”}”(hŒé—­æº� SDK — Orbbec SDK v1”h]”hŒé—­æº� SDK — Orbbec SDK v1”…”�”}”(hhIhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhh?hhhhhKubhŒ，它构æˆ�了 ”…”�”}”(hh?hhhhhKubhŒ	reference”“”)�”}”(hŒ"OrbbecSDK ROS2 Wrapper main 分支”h]”hŒ"OrbbecSDK ROS2 Wrapper main 分支”…”�”}”(hh]hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”Œrefuri”Œ2https://github.com/orbbec/OrbbecSDK_ROS2/tree/main”uh+h[hKhh?hhhhubhŒœçš„基础。虽然 ROS å°�装层本身是开æº�的，但它ä¾�赖于闭æº�的底层 SDK。这ç§�架构é™�制了ç�µæ´»æ€§ï¼Œé˜»ç¢�了社区驱动的改进。”…”�”}”(hh?hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h=hKhh,hhhhubh>)�”}”(hXK
éš�ç�€å¼€å�‘者越æ�¥è¶Šéœ€è¦�é€�明性ã€�å�¯ç»´æŠ¤æ€§å’Œæ›´å¹¿æ³›çš„设备支æŒ�，奥比中光å�‘布了全新的开æº� v2-main — Orbbec SDK_v2 (GitHub 链接)。基于此 SDK，OrbbecSDK ROS2 çš„å¼€æº� v2-main 分支现在完全开æº�，æ��供了更好的å�¯æ‰©å±•æ€§ï¼Œå¹¶ä¸Žå¥¥æ¯”中光未æ�¥çš„产å“�路线图ä¿�æŒ�一致。”h]”(hŒ�éš�ç�€å¼€å�‘者越æ�¥è¶Šéœ€è¦�é€�明性ã€�å�¯ç»´æŠ¤æ€§å’Œæ›´å¹¿æ³›çš„设备支æŒ�，奥比中光å�‘布了全新的开æº� v2-main ”…”�”}”(hhwhhhhhKubhH)�”}”(hŒ— Orbbec SDK_v2”h]”(hŒ— Orbbec SDK”…”�”}”(hhhhhhhKubhŒ
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GitHub 链接”h]”hŒ
GitHub 链接”…”�”}”(hh™hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”hkŒ0https://github.com/orbbec/OrbbecSDK/tree/v2-main”uh+h[hKhhwhhhhubhŒ)。基于此 SDK，”…”�”}”(hhwhhhhhKubh\)�”}”(hŒ'OrbbecSDK ROS2 çš„å¼€æº� v2-main 分支”h]”hŒ'OrbbecSDK ROS2 çš„å¼€æº� v2-main 分支”…”�”}”(hh¬hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”hkŒ(https://github.com/orbbec/OrbbecSDK_ROS2”uh+h[hKhhwhhhhubhŒo现在完全开æº�，æ��供了更好的å�¯æ‰©å±•æ€§ï¼Œå¹¶ä¸Žå¥¥æ¯”中光未æ�¥çš„产å“�路线图ä¿�æŒ�一致。”…”�”}”(hhwhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h=hKhh,hhhhubh>)�”}”(hX
本文档介ç»�了将 ROS 包从 main 分支（基于 SDK v1）è¿�移到 v2-main 分支（基于 Orbbec SDK_v2）的动机和好处。它é‡�点介ç»�了å�¯åŠ¨æ–‡ä»¶ã€�å�‚æ•°ã€�è¯�题和æœ�务的主è¦�差异，并æ��ä¾›è¿�移指å�—帮助开å�‘者顺利过渡。”h]”(hŒk本文档介ç»�了将 ROS 包从 main 分支（基于 SDK v1）è¿�移到 v2-main 分支（基于 Orbbec SDK”…”�”}”(hhÅhhhhhKubhŒ
_”…”�”}”(hhÅhhhhhKubhŒ,v2）的动机和好处。它é‡�点介ç»�了”…”�”}”(hhÅhhhhhKubhH)�”}”(hŒ'å�¯åŠ¨æ–‡ä»¶ã€�å�‚æ•°ã€�è¯�题和æœ�务”h]”hŒ'å�¯åŠ¨æ–‡ä»¶ã€�å�‚æ•°ã€�è¯�题和æœ�务”…”�”}”(hhÕhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhhÅhhhhhKubhŒE的主è¦�差异，并æ��ä¾›è¿�移指å�—帮助开å�‘者顺利过渡。”…”�”}”(hhÅhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h=hK	hh,hhhhubh>)�”}”(hŒ]注æ„�： 在以下内容中，main 指闭æº�分支，而 v2-main 指开æº� v2-main 分支。”h]”(hH)�”}”(hŒ	注æ„�：”h]”hŒ	注æ„�：”…”�”}”(hhñhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhhíhhhhhKubhŒ 在以下内容中，”…”�”}”(hhíhhhhhKubhH)�”}”(hŒmain”h]”hŒmain”…”�”}”(hj
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)�”}”(hhh]”(h)�”}”(hŒå�¯åŠ¨æ–‡ä»¶å·®å¼‚”h]”hH)�”}”(hŒå�¯åŠ¨æ–‡ä»¶å·®å¼‚”h]”hŒå�¯åŠ¨æ–‡ä»¶å·®å¼‚”…”�”}”(hjhhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjdhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhK#hjahhubhŒenumerated_list”“”)�”}”(hhh]”(hŒ	list_item”“”)�”}”(hhh]”(h>)�”}”(hŒN在 v2-main 中，为 Gemini 330 系列添加了新的低功耗å�¯åŠ¨æ–‡ä»¶ï¼š”h]”hŒN在 v2-main 中，为 Gemini 330 系列添加了新的低功耗å�¯åŠ¨æ–‡ä»¶ï¼š”…”�”}”(hj†hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h=hK%hjƒhhhhubhŒbullet_list”“”)�”}”(hhh]”j‚)�”}”(hhh]”h>)�”}”(hŒ#gemini_330_series_low_cpu.launch.py”h]”hŒliteral”“”)�”}”(hŒ#gemini_330_series_low_cpu.launch.py”h]”hŒ#gemini_330_series_low_cpu.launch.py”…”�”}”hj¢sbah}”(h!]”h#]”h%]”h']”h)]”uh+j hjœhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h=hK&hj™hhhhubah}”(h!]”h#]”h%]”h']”h)]”uh+j�hK&hj–hhhhubah}”(h!]”h#]”h%]”h']”h)]”uh+j”hK&hjƒhhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+j�hK%hj~hhhhubj‚)�”}”(hhh]”h>)�”}”(hŒRv2-main 引入了对 Gemini 435Leã€�Gemini 345 å’Œ Gemini 345Lg 相机的支æŒ�。”h]”(hŒv2-main 引入了对 ”…”�”}”(hjËhhhhhKubhH)�”}”(hŒGemini 435Le”h]”hŒGemini 435Le”…”�”}”(hjÓhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjËhhhhhKubhŒã€�”…”�”}”(hjËhhhhhKubhH)�”}”(hŒ
Gemini 345”h]”hŒ
Gemini 345”…”�”}”(hjåhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjËhhhhhKubhŒ å’Œ ”…”�”}”(hjËhhhhhKubhH)�”}”(hŒGemini 345Lg”h]”hŒGemini 345Lg”…”�”}”(hj÷hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjËhhhhhKubhŒ 相机的支æŒ�。”…”�”}”(hjËhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h=hK'hjÈhhhhubah}”(h!]”h#]”h%]”h']”h)]”uh+j�hK'hj~hhhhubj‚)�”}”(hhh]”h>)�”}”(hŒ{由于 OrbbecSDK_v2 仅支æŒ� UVC 设备，v2-main 中支æŒ�的相机型å�·èŒƒå›´æ¯” main 略窄。详细信æ�¯è§�下表。”h]”(hŒ由于 ”…”�”}”(hjhhhhhKubhH)�”}”(hŒ!OrbbecSDK_v2 仅支æŒ� UVC 设备”h]”(hŒ	OrbbecSDK”…”�”}”(hj hhhhhKubhŒ
_”…”�”}”(hj hhhhhKubhŒv2 仅支æŒ� UVC 设备”…”�”}”(hj hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+hGhjhhhhhKubhŒS，v2-main 中支æŒ�的相机型å�·èŒƒå›´æ¯” main 略窄。详细信æ�¯è§�下表。”…”�”}”(hjhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h=hK(hjhhhhubah}”(h!]”h#]”h%]”h']”h)]”uh+j�hK(hj~hhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+j|hK%hjahhhhubhŒraw”“”)�”}”(hX®<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>�支�</td>
<td>gemini435_le.launch.py</td>
</tr>
<tr>
<td>Gemini 345</td>
<td>�支�</td>
<td>gemini345.launch.py</td>
</tr>
<tr>
<td>Gemini 345Lg</td>
<td>�支�</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（�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>�相机通用�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�独立文件</td>
<td>�支�</td>
</tr>
</tbody>
</table>”h]”hX®<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>�支�</td>
<td>gemini435_le.launch.py</td>
</tr>
<tr>
<td>Gemini 345</td>
<td>�支�</td>
<td>gemini345.launch.py</td>
</tr>
<tr>
<td>Gemini 345Lg</td>
<td>�支�</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（�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>�相机通用�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�独立文件</td>
<td>�支�</td>
</tr>
</tbody>
</table>”…”�”}”hjNsbah}”(h!]”h#]”h%]”h']”h)]”Œformat”Œhtml”Œ	xml:space”Œpreserve”uh+jLhK*hjahhhhubeh}”(h!]”Œid8”ah#]”h%]”Œå�¯åŠ¨æ–‡ä»¶å·®å¼‚”ah']”h)]”uh+h	hK#hjPhhhhubh
)�”}”(hhh]”(h)�”}”(hŒå�‚数差异”h]”hH)�”}”(hŒå�‚数差异”h]”hŒå�‚数差异”…”�”}”(hjohhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjkhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhK•hjhhhubh>)�”}”(hŒ.v2-main 中的新å�‚数（main 中ä¸�å�¯ç”¨ï¼‰”h]”hH)�”}”(hŒ.v2-main 中的新å�‚数（main 中ä¸�å�¯ç”¨ï¼‰”h]”hŒ.v2-main 中的新å�‚数（main 中ä¸�å�¯ç”¨ï¼‰”…”�”}”(hj‡hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjƒhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h=hK—hjhhhhhubjM)�”}”(hXŠ<table border="1" class="docutils">
<thead>
<tr>
<th><strong>�数�称</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>�述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>upgrade_firmware</td>
<td>-</td>
<td>已添加</td>
<td>固件�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 �置</td>
</tr>
<tr>
<td>export_config_json_file_path</td>
<td>-</td>
<td>已添加</td>
<td>导出 JSON �置</td>
</tr>
<tr>
<td>uvc_backend</td>
<td>-</td>
<td>已添加</td>
<td>libuvc / v4l2 �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�垂直翻转</td>
</tr>
<tr>
<td>color_mirror</td>
<td>-</td>
<td>已添加</td>
<td>彩色图�水平镜�</td>
</tr>
<tr>
<td>depth_flip</td>
<td>-</td>
<td>已添加</td>
<td>深度图�垂直翻转</td>
</tr>
<tr>
<td>depth_mirror</td>
<td>-</td>
<td>已添加</td>
<td>深度图�水平镜�</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�</td>
</tr>
<tr>
<td>right_ir_flip</td>
<td>-</td>
<td>已添加</td>
<td>�红外垂直翻转</td>
</tr>
<tr>
<td>right_ir_mirror</td>
<td>-</td>
<td>已添加</td>
<td>�红外水平镜�</td>
</tr>
<tr>
<td>enable_left_ir_sequence_id_filter</td>
<td>-</td>
<td>已添加</td>
<td>左红外�列 ID 滤波器</td>
</tr>
<tr>
<td>enable_right_ir_sequence_id_filter</td>
<td>-</td>
<td>已添加</td>
<td>�红外�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�校正</td>
</tr>
<tr>
<td>enable_gyro_data_correction</td>
<td>-</td>
<td>已添加</td>
<td>陀螺仪数�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�</td>
</tr>
<tr>
<td>net_device_port</td>
<td>-</td>
<td>已添加</td>
<td>网络设备端�</td>
</tr>
<tr>
<td>exposure_range_mode</td>
<td>-</td>
<td>已添加</td>
<td>�光范围模�：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�</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�步周期</td>
</tr>
<tr>
<td>gmsl_trigger_fps</td>
<td>-</td>
<td>已添加</td>
<td>GMSL 触�帧率</td>
</tr>
<tr>
<td>enable_gmsl_trigger</td>
<td>-</td>
<td>已添加</td>
<td>GMSL 触��用</td>
</tr>
<tr>
<td>disparity_range_mode</td>
<td>-</td>
<td>已添加</td>
<td>视差范围模�</td>
</tr>
<tr>
<td>disparity_search_offset</td>
<td>-</td>
<td>已添加</td>
<td>视差�索�移</td>
</tr>
<tr>
<td>disparity_offset_config</td>
<td>-</td>
<td>已添加</td>
<td>视差�移�置</td>
</tr>
<tr>
<td>offset_index0</td>
<td>-</td>
<td>已添加</td>
<td>视差�移索引 0</td>
</tr>
<tr>
<td>offset_index1</td>
<td>-</td>
<td>已添加</td>
<td>视差�移索引 1</td>
</tr>
<tr>
<td>interleave_ae_mode</td>
<td>-</td>
<td>已添加</td>
<td>AE 交错模�</td>
</tr>
<tr>
<td>interleave_frame_enable</td>
<td>-</td>
<td>已添加</td>
<td>交错帧�用</td>
</tr>
<tr>
<td>interleave_skip_enable</td>
<td>-</td>
<td>已添加</td>
<td>跳过红外帧�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�数</td>
</tr>
<tr>
<td>hdr_index1_depth_exposure</td>
<td>-</td>
<td>已添加</td>
<td>HDR 深度�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�数</td>
</tr>
<tr>
<td>hdr_index0_depth_exposure</td>
<td>-</td>
<td>已添加</td>
<td>HDR 深度�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�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�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��用</td>
</tr>
<tr>
<td>enable_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>PTP �置（Gemini 335Le）</td>
</tr>
<tr>
<td>align_target_stream</td>
<td>-</td>
<td>已添加</td>
<td>对�目标�</td>
</tr>
<tr>
<td>spatial_fast_filter_radius</td>
<td>-</td>
<td>已添加</td>
<td>快速空间滤波器�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�径</td>
</tr>
<tr>
<td>color.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>彩色图�传输�件</td>
</tr>
<tr>
<td>depth.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>深度图�传输�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�件</td>
</tr>
<tr>
<td>right_ir.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>�红外传输�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�</td>
</tr>
<tr>
<td>force_ip_dhcp</td>
<td>-</td>
<td>已添加</td>
<td>DHCP 自动分�</td>
</tr>
<tr>
<td>force_ip_address</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP ��地�</td>
</tr>
<tr>
<td>force_ip_subnet_mask</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP �网掩�</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>”h]”hXŠ<table border="1" class="docutils">
<thead>
<tr>
<th><strong>�数�称</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>�述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>upgrade_firmware</td>
<td>-</td>
<td>已添加</td>
<td>固件�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 �置</td>
</tr>
<tr>
<td>export_config_json_file_path</td>
<td>-</td>
<td>已添加</td>
<td>导出 JSON �置</td>
</tr>
<tr>
<td>uvc_backend</td>
<td>-</td>
<td>已添加</td>
<td>libuvc / v4l2 �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�垂直翻转</td>
</tr>
<tr>
<td>color_mirror</td>
<td>-</td>
<td>已添加</td>
<td>彩色图�水平镜�</td>
</tr>
<tr>
<td>depth_flip</td>
<td>-</td>
<td>已添加</td>
<td>深度图�垂直翻转</td>
</tr>
<tr>
<td>depth_mirror</td>
<td>-</td>
<td>已添加</td>
<td>深度图�水平镜�</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�</td>
</tr>
<tr>
<td>right_ir_flip</td>
<td>-</td>
<td>已添加</td>
<td>�红外垂直翻转</td>
</tr>
<tr>
<td>right_ir_mirror</td>
<td>-</td>
<td>已添加</td>
<td>�红外水平镜�</td>
</tr>
<tr>
<td>enable_left_ir_sequence_id_filter</td>
<td>-</td>
<td>已添加</td>
<td>左红外�列 ID 滤波器</td>
</tr>
<tr>
<td>enable_right_ir_sequence_id_filter</td>
<td>-</td>
<td>已添加</td>
<td>�红外�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�校正</td>
</tr>
<tr>
<td>enable_gyro_data_correction</td>
<td>-</td>
<td>已添加</td>
<td>陀螺仪数�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�</td>
</tr>
<tr>
<td>net_device_port</td>
<td>-</td>
<td>已添加</td>
<td>网络设备端�</td>
</tr>
<tr>
<td>exposure_range_mode</td>
<td>-</td>
<td>已添加</td>
<td>�光范围模�：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�</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�步周期</td>
</tr>
<tr>
<td>gmsl_trigger_fps</td>
<td>-</td>
<td>已添加</td>
<td>GMSL 触�帧率</td>
</tr>
<tr>
<td>enable_gmsl_trigger</td>
<td>-</td>
<td>已添加</td>
<td>GMSL 触��用</td>
</tr>
<tr>
<td>disparity_range_mode</td>
<td>-</td>
<td>已添加</td>
<td>视差范围模�</td>
</tr>
<tr>
<td>disparity_search_offset</td>
<td>-</td>
<td>已添加</td>
<td>视差�索�移</td>
</tr>
<tr>
<td>disparity_offset_config</td>
<td>-</td>
<td>已添加</td>
<td>视差�移�置</td>
</tr>
<tr>
<td>offset_index0</td>
<td>-</td>
<td>已添加</td>
<td>视差�移索引 0</td>
</tr>
<tr>
<td>offset_index1</td>
<td>-</td>
<td>已添加</td>
<td>视差�移索引 1</td>
</tr>
<tr>
<td>interleave_ae_mode</td>
<td>-</td>
<td>已添加</td>
<td>AE 交错模�</td>
</tr>
<tr>
<td>interleave_frame_enable</td>
<td>-</td>
<td>已添加</td>
<td>交错帧�用</td>
</tr>
<tr>
<td>interleave_skip_enable</td>
<td>-</td>
<td>已添加</td>
<td>跳过红外帧�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�数</td>
</tr>
<tr>
<td>hdr_index1_depth_exposure</td>
<td>-</td>
<td>已添加</td>
<td>HDR 深度�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�数</td>
</tr>
<tr>
<td>hdr_index0_depth_exposure</td>
<td>-</td>
<td>已添加</td>
<td>HDR 深度�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�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�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��用</td>
</tr>
<tr>
<td>enable_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>PTP �置（Gemini 335Le）</td>
</tr>
<tr>
<td>align_target_stream</td>
<td>-</td>
<td>已添加</td>
<td>对�目标�</td>
</tr>
<tr>
<td>spatial_fast_filter_radius</td>
<td>-</td>
<td>已添加</td>
<td>快速空间滤波器�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�径</td>
</tr>
<tr>
<td>color.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>彩色图�传输�件</td>
</tr>
<tr>
<td>depth.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>深度图�传输�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�件</td>
</tr>
<tr>
<td>right_ir.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>�红外传输�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�</td>
</tr>
<tr>
<td>force_ip_dhcp</td>
<td>-</td>
<td>已添加</td>
<td>DHCP 自动分�</td>
</tr>
<tr>
<td>force_ip_address</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP ��地�</td>
</tr>
<tr>
<td>force_ip_subnet_mask</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP �网掩�</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>”…”�”}”hj›sbah}”(h!]”h#]”h%]”h']”h)]”Œformat”j]j^j_uh+jLhK™hjhhhhhubh>)�”}”(hŒ8已移除å�‚数（仅 main 有，v2-main 中已移除）”h]”hH)�”}”(hŒ8已移除å�‚数（仅 main 有，v2-main 中已移除）”h]”hŒ8已移除å�‚数（仅 main 有，v2-main 中已移除）”…”�”}”(hj®hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjªhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h=hM\hjhhhhhubjM)�”}”(hX2<table border="1" class="docutils">
<thead>
<tr>
<th><strong>�数</strong></th>
<th><strong>�述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>enable_3d_reconstruction_mode</td>
<td>3D �建模�已弃用</td>
</tr>
<tr>
<td>enable_hardware_reset</td>
<td>硬件�置接�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�，由 interleave / laser_index 替�</td>
</tr>
<tr>
<td>enable_3d_reconstruction_mode</td>
<td>3D �建模���；v2-main 中��使用</td>
</tr>
<tr>
<td>device_preset</td>
<td>部分逻辑�移到新固件 / 交错�数</td>
</tr>
<tr>
<td>enable_trigger_out</td>
<td>旧软件触�接�由 software_trigger_enabled 替�</td>
</tr>
<tr>
<td>retry_on_usb3_detection_failure</td>
<td>�选；v2-main 中逻辑已调整或移除</td>
</tr>
<tr>
<td>enable_color_undistortion</td>
<td>旧接�逻辑集�到其他地方；v2-main 中�存在但使用�能已调整</td>
</tr>
</tbody>
</table>”h]”hX2<table border="1" class="docutils">
<thead>
<tr>
<th><strong>�数</strong></th>
<th><strong>�述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>enable_3d_reconstruction_mode</td>
<td>3D �建模�已弃用</td>
</tr>
<tr>
<td>enable_hardware_reset</td>
<td>硬件�置接�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�，由 interleave / laser_index 替�</td>
</tr>
<tr>
<td>enable_3d_reconstruction_mode</td>
<td>3D �建模���；v2-main 中��使用</td>
</tr>
<tr>
<td>device_preset</td>
<td>部分逻辑�移到新固件 / 交错�数</td>
</tr>
<tr>
<td>enable_trigger_out</td>
<td>旧软件触�接�由 software_trigger_enabled 替�</td>
</tr>
<tr>
<td>retry_on_usb3_detection_failure</td>
<td>�选；v2-main 中逻辑已调整或移除</td>
</tr>
<tr>
<td>enable_color_undistortion</td>
<td>旧接�逻辑集�到其他地方；v2-main 中�存在但使用�能已调整</td>
</tr>
</tbody>
</table>”…”�”}”hjÂsbah}”(h!]”h#]”h%]”h']”h)]”Œformat”j]j^j_uh+jLhM^hjhhhhhubeh}”(h!]”Œid9”ah#]”h%]”Œå�‚数差异”ah']”h)]”uh+h	hK•hjPhhhhubh
)�”}”(hhh]”(h)�”}”(hŒè¯�题差异”h]”hH)�”}”(hŒè¯�题差异”h]”hŒè¯�题差异”…”�”}”(hjàhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjÜhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhM�hjÙhhubh>)�”}”(hŒ2v2-main 在 main 基础上添加了以下è¯�题：”h]”(hH)�”}”(hŒv2-main”h]”hŒv2-main”…”�”}”(hjøhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjôhhhhhKubhŒ+ 在 main 基础上添加了以下è¯�题：”…”�”}”(hjôhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h=hM�hjÙhhhhubjM)�”}”(hXj
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>�题</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>�述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>/camera/device_status</td>
<td>-</td>
<td>已添加</td>
<td>�布设备状�（帧率延迟�设备连接状�等）</td>
</tr>
</tbody>
</table>”h]”hXj
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>�题</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>�述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>/camera/device_status</td>
<td>-</td>
<td>已添加</td>
<td>�布设备状�（帧率延迟�设备连接状�等）</td>
</tr>
</tbody>
</table>”…”�”}”hjsbah}”(h!]”h#]”h%]”h']”h)]”Œformat”j]j^j_uh+jLhM‘hjÙhhhhubeh}”(h!]”Œid10”ah#]”h%]”Œè¯�题差异”ah']”h)]”uh+h	hM�hjPhhhhubh
)�”}”(hhh]”(h)�”}”(hŒæœ�务差异”h]”hH)�”}”(hŒæœ�务差异”h]”hŒæœ�务差异”…”�”}”(hj.hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhj*hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhM¤hj'hhubh>)�”}”(hŒ2v2-main 在 main 基础上添加了以下æœ�务：”h]”(hH)�”}”(hŒv2-main”h]”hŒv2-main”…”�”}”(hjFhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hGhjBhhhhhKubhŒ+ 在 main 基础上添加了以下æœ�务：”…”�”}”(hjBhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h=hM¦hj'hhhhubjM)�”}”(hXà
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>�务</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>�述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>get_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>获� PTP �置</td>
</tr>
<tr>
<td>set_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>设置 PTP �置</td>
</tr>
<tr>
<td>get_streams_enable</td>
<td>-</td>
<td>已添加</td>
<td>获��个�的�用状�</td>
</tr>
<tr>
<td>set_streams_enable</td>
<td>-</td>
<td>已添加</td>
<td>设置�个�的�用状�</td>
</tr>
<tr>
<td>get_user_calib_params</td>
<td>-</td>
<td>已添加</td>
<td>获�用户校准�数</td>
</tr>
<tr>
<td>set_user_calib_params</td>
<td>-</td>
<td>已添加</td>
<td>设置用户校准�数</td>
</tr>
<tr>
<td>read_customer_data</td>
<td>-</td>
<td>已添加</td>
<td>读�用户存储的自定义数�</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�</td>
</tr>
<tr>
<td>send_software_trigger</td>
<td>-</td>
<td>已添加</td>
<td>��软件触�</td>
</tr>
<tr>
<td>set_color_ae_roi</td>
<td>-</td>
<td>已添加</td>
<td>设置彩色图�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�的 AE ROI</td>
</tr>
<tr>
<td>set_color_flip</td>
<td>-</td>
<td>已添加</td>
<td>设置彩色图�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�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�旋转</td>
</tr>
<tr>
<td>set_depth_rotation</td>
<td>-</td>
<td>已添加</td>
<td>设置深度图�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�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>�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>�红外旋转</td>
</tr>
<tr>
<td>set_reset_timestamp</td>
<td>-</td>
<td>已添加</td>
<td>�置时间戳</td>
</tr>
<tr>
<td>set_sync_hosttime</td>
<td>-</td>
<td>已添加</td>
<td>�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�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>”h]”hXà
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>�务</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>�述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>get_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>获� PTP �置</td>
</tr>
<tr>
<td>set_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>设置 PTP �置</td>
</tr>
<tr>
<td>get_streams_enable</td>
<td>-</td>
<td>已添加</td>
<td>获��个�的�用状�</td>
</tr>
<tr>
<td>set_streams_enable</td>
<td>-</td>
<td>已添加</td>
<td>设置�个�的�用状�</td>
</tr>
<tr>
<td>get_user_calib_params</td>
<td>-</td>
<td>已添加</td>
<td>获�用户校准�数</td>
</tr>
<tr>
<td>set_user_calib_params</td>
<td>-</td>
<td>已添加</td>
<td>设置用户校准�数</td>
</tr>
<tr>
<td>read_customer_data</td>
<td>-</td>
<td>已添加</td>
<td>读�用户存储的自定义数�</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�</td>
</tr>
<tr>
<td>send_software_trigger</td>
<td>-</td>
<td>已添加</td>
<td>��软件触�</td>
</tr>
<tr>
<td>set_color_ae_roi</td>
<td>-</td>
<td>已添加</td>
<td>设置彩色图�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�的 AE ROI</td>
</tr>
<tr>
<td>set_color_flip</td>
<td>-</td>
<td>已添加</td>
<td>设置彩色图�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�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�旋转</td>
</tr>
<tr>
<td>set_depth_rotation</td>
<td>-</td>
<td>已添加</td>
<td>设置深度图�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�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>�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>�红外旋转</td>
</tr>
<tr>
<td>set_reset_timestamp</td>
<td>-</td>
<td>已添加</td>
<td>�置时间戳</td>
</tr>
<tr>
<td>set_sync_hosttime</td>
<td>-</td>
<td>已添加</td>
<td>�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�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>
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