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<title>1.4. 应用指南 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1.1. 概述</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1.1. 引言</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1.1. 支持的硬件产品</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.1.2. Orbbec 相机规格书</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">1.3.1. ROS 包快速入门</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">1.3.1.1. 简介</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">1.3.1.2.1. 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">1.3.1.2.2. 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">1.3.1.2.3. 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/orbbecviewer.html">1.3.2. OrbbecViewer 快速入门</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">1.3.2.1. 下载</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">1.4. 应用指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">1.4.1. 启动参数</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id2">1.4.1.1. 核心与数据流配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id8">1.4.1.3.1. 多相机同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ae">1.4.1.3.5. 交错AE模式</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id12">1.4.1.3.6. 相机内同步</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id13">1.4.1.4. 基础与通用参数</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id14">1.4.1.4.1. 固件与后端</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf">1.4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">1.4.1.6. 深度滤波器</a></li>
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<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">1.4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">1.4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">1.4.2.1.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id5">1.4.2.1.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id6">1.4.2.1.4. 所有数据流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id8">1.4.2.3. 设备信息与管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id9">1.4.2.4. 同步与触发</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id12">1.4.2.7. 点云下采样</a></li>
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<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id2">1.4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id3">1.4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu">1.4.3.3. IMU话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#abtf">1.4.4.2. 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="coordinate_and_tf.html#ros2-vs">1.4.4.3. 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="coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id2">1.4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id3">1.4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
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<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. 压缩图像</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id1">1.4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#rviz2">1.4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id3">1.4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id5">1.4.6.2.2. 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">1.5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 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">1.5.1.1.1. 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">1.5.1.1.2. 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">1.5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 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">1.5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 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">1.5.1.3.1. 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">1.5.1.3.2. Fast DDS配置</a></li>
</ul>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 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">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 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">1.5.2.2.1. 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">1.5.2.2.2. 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">1.5.2.2.3. 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">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 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">1.5.2.3.1. 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">1.5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 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">1.5.2.4.2. 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">1.5.2.4.3. 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">1.5.2.4.4. GMSL 相机的使用限制</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 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">1.5.3.3. 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">1.5.3.4. 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">1.5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 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">1.5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 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">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. 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">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id2">1.6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id3">1.6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. 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">1.6.2.1. 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">1.6.2.2. 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">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">1.6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. 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">1.6.3.1. 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">1.6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">1.6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">1.6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">1.6.4.1.2. 相机配置(启动文件)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">1.6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">1.6.4.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. 开发者指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. 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">1.7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">1.7.1.2. 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">1.7.1.2.1. <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">1.7.1.2.2. <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">1.7.1.2.3. 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">1.7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">1.7.1.3. 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">1.7.1.3.1. <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">1.7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">1.7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">1.7.1.3.4. <strong>服务差异</strong></a></li>
</ul>
</li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. 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">1.7.2.1. 准备环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">1.7.2.2. 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">1.7.2.3. 构建软件包</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">1.8.2. 多相机无数据流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">1.8.3. 其他故障排除</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">1.8.4. 为什么有这么多启动文件?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">1.8.5. 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="../8_FAQ/FAQ.html#id7">1.8.6. 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="../8_FAQ/FAQ.html#femto-bolt">1.8.7. femto bolt 深度流无数据</a></li>
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<h1>应用指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4. </span>应用指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<p>本章介绍使用SDK进行应用开发,包括启动参数配置、ROS2服务和话题使用。</p>
<div class="toctree-wrapper compound">
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<li class="toctree-l1"><a class="reference internal" href="launch_parameters.html">启动参数</a><ul>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id2">核心与数据流配置</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id3">传感器控制</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id7">设备、同步与高级功能</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id13">基础与通用参数</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#imu">IMU</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id18">深度滤波器</a></li>
<li class="toctree-l1"><a class="reference internal" href="launch_parameters.html">1.4.1. 启动参数</a><ul>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id2">1.4.1.1. 核心与数据流配置</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id3">1.4.1.2. 传感器控制</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id13">1.4.1.4. 基础与通用参数</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id18">1.4.1.6. 深度滤波器</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="services.html">所有可用的相机控制服务</a><ul>
<li class="toctree-l2"><a class="reference internal" href="services.html#id2">数据流控制</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id7">传感器与发射器控制</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id8">设备信息与管理</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id9">同步与触发</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id10">深度滤波器配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="services.html#id12">点云下采样</a></li>
<li class="toctree-l1"><a class="reference internal" href="services.html">1.4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l2"><a class="reference internal" href="services.html#id2">1.4.2.1. 数据流控制</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id8">1.4.2.3. 设备信息与管理</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id9">1.4.2.4. 同步与触发</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id12">1.4.2.7. 点云下采样</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="topics.html">可用话题</a><ul>
<li class="toctree-l2"><a class="reference internal" href="topics.html#id2">图像流</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#id3">点云话题</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#imu">IMU话题</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#id4">设备状态与诊断</a></li>
<li class="toctree-l1"><a class="reference internal" href="topics.html">1.4.3. 可用话题</a><ul>
<li class="toctree-l2"><a class="reference internal" href="topics.html#id2">1.4.3.1. 图像流</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#id3">1.4.3.2. 点云话题</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#imu">1.4.3.3. IMU话题</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
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<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">坐标系和 TF 变换</a><ul>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id1">相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#abtf">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="coordinate_and_tf.html#ros2-vs">ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">ROS2 TF工具的使用</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id3">相机TF计算和发布机制</a></li>
<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#abtf">1.4.4.2. 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="coordinate_and_tf.html#ros2-vs">1.4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id3">1.4.4.5. 相机TF计算和发布机制</a></li>
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<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#id1">1.4.6.1. 启用深度点云</a></li>
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@@ -157,13 +452,16 @@
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1.1. 概述</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1.1. 引言</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1.1. 支持的硬件产品</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.1.2. Orbbec 相机规格书</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">1.3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id2">1.4.1.1. 核心与数据流配置</a></li>
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<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id8">1.4.1.3.1. 多相机同步</a></li>
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<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ae">1.4.1.3.5. 交错AE模式</a></li>
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<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id14">1.4.1.4.1. 固件与后端</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf">1.4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">1.4.1.6. 深度滤波器</a></li>
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<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">1.4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">1.4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">1.4.2.1.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id5">1.4.2.1.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id6">1.4.2.1.4. 所有数据流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id8">1.4.2.3. 设备信息与管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id9">1.4.2.4. 同步与触发</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id12">1.4.2.7. 点云下采样</a></li>
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<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id2">1.4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id3">1.4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu">1.4.3.3. IMU话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#abtf">1.4.4.2. 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="coordinate_and_tf.html#ros2-vs">1.4.4.3. 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="coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id2">1.4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id3">1.4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
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<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.5. 压缩图像</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id1">1.4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#rviz2">1.4.6.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id3">1.4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id5">1.4.6.2.2. 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">1.5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 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">1.5.1.1.1. 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">1.5.1.1.2. 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">1.5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 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">1.5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 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">1.5.1.3.1. 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">1.5.1.3.2. Fast DDS配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 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">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 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">1.5.2.2.1. 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">1.5.2.2.2. 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">1.5.2.2.3. 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">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 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">1.5.2.3.1. 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">1.5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 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">1.5.2.4.2. 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">1.5.2.4.3. 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">1.5.2.4.4. GMSL 相机的使用限制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 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">1.5.3.3. 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">1.5.3.4. 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">1.5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 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">1.5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 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">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. 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">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id2">1.6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id3">1.6.1.2. 服务基准测试节点</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">1.6.2.1. 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">1.6.2.2. 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">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. 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">1.6.3.1. 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">1.6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">1.6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">1.6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">1.6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">1.6.4.1.4. 输出数据文件</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. 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">1.7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">1.7.1.2. 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">1.7.1.2.1. <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">1.7.1.2.2. <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">1.7.1.2.3. 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">1.7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">1.7.1.3. 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">1.7.1.3.1. <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">1.7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">1.7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">1.7.1.3.4. <strong>服务差异</strong></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. 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">1.7.2.1. 准备环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">1.7.2.2. 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">1.7.2.3. 构建软件包</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">1.8.1. 意外崩溃</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">1.8.2. 多相机无数据流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">1.8.3. 其他故障排除</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">1.8.4. 为什么有这么多启动文件?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">1.8.5. 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="../8_FAQ/FAQ.html#id7">1.8.6. 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="../8_FAQ/FAQ.html#femto-bolt">1.8.7. femto bolt 深度流无数据</a></li>
</ul>
</li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
@@ -95,7 +389,9 @@
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<h1>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.5. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<p>您可以使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 通过 <code class="docutils literal notranslate"><span class="pre">jpeg</span></code> 压缩图像。以下是使用示例:</p>
<p>要访问压缩的彩色图像,可以使用以下命令:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
@@ -118,13 +414,16 @@
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">1.3.2.1. 下载</a></li>
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<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">1.4. 应用指南</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">1.4.1. 启动参数</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id2">1.4.1.1. 核心与数据流配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id8">1.4.1.3.1. 多相机同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ae">1.4.1.3.5. 交错AE模式</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id12">1.4.1.3.6. 相机内同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id13">1.4.1.4. 基础与通用参数</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id14">1.4.1.4.1. 固件与后端</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf">1.4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">1.4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">1.4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">1.4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">1.4.2.1.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id5">1.4.2.1.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id6">1.4.2.1.4. 所有数据流</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id8">1.4.2.3. 设备信息与管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id9">1.4.2.4. 同步与触发</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id12">1.4.2.7. 点云下采样</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id2">1.4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id3">1.4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu">1.4.3.3. IMU话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id1">1.4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="#abtf">1.4.4.2. 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="#ros2-vs">1.4.4.3. 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="#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#id2">1.4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="#id3">1.4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="#id4">1.4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. 压缩图像</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id1">1.4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#rviz2">1.4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id3">1.4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id5">1.4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 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">1.5.1.1.1. 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">1.5.1.1.2. 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">1.5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 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">1.5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 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">1.5.1.3.1. 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">1.5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 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">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 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">1.5.2.2.1. 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">1.5.2.2.2. 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">1.5.2.2.3. 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">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 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">1.5.2.3.1. 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">1.5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 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">1.5.2.4.2. 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">1.5.2.4.3. 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">1.5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 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">1.5.3.3. 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">1.5.3.4. 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">1.5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 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">1.5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 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">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. 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">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id2">1.6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id3">1.6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. 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">1.6.2.1. 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">1.6.2.2. 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">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">1.6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. 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">1.6.3.1. 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">1.6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">1.6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">1.6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">1.6.4.1.2. 相机配置(启动文件)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">1.6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">1.6.4.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. 开发者指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. 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">1.7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">1.7.1.2. 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">1.7.1.2.1. <strong>全面的设备支持</strong></a></li>
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@@ -95,7 +389,9 @@
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<li class="breadcrumb-item active">坐标系和 TF 变换</li>
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<li class="breadcrumb-item active"><span class="section-number">1.4.4. </span>坐标系和 TF 变换</li>
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@@ -106,14 +402,14 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="tf">
<h1>坐标系和 TF 变换<a class="headerlink" href="#tf" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.4. </span>坐标系和 TF 变换<a class="headerlink" href="#tf" title="Link to this heading"></a></h1>
<section id="id1">
<h2>相机传感器结构<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.1. </span>相机传感器结构<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<p><img alt="module in rviz2" src="../../../_images/image3.png" /></p>
<p><img alt="module in rviz2" src="../../../_images/image1.png" /></p>
</section>
<section id="abtf">
<h2>从坐标系A到坐标系B的TF变换:<a class="headerlink" href="#abtf" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.2. </span>从坐标系A到坐标系B的TF变换:<a class="headerlink" href="#abtf" title="Link to this heading"></a></h2>
<p>在Orbbec相机中,原点(0,0,0)取自camera_link位置。</p>
<p>可以使用以下命令查看相机的URDF模型和坐标系结构:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
@@ -122,7 +418,7 @@
<p><img alt="rviz2中的模块" src="../../../_images/image2.png" /></p>
</section>
<section id="ros2-vs">
<h2>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.3. </span>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>视角:</p>
<ul>
@@ -140,9 +436,9 @@
</ul>
</section>
<section id="ros2-tf">
<h2>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.4. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h2>
<section id="id2">
<h3>查看TF树结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.4.4.1. </span>查看TF树结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<p>可以使用以下ROS2命令来打印和可视化相机包发布的TF树:</p>
<p><strong>打印所有TF关系:</strong></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
@@ -185,7 +481,7 @@
</div>
</section>
<section id="rviz2tf">
<h3>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.4.4.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h3>
<p>在rviz2中可以实时可视化TF树结构和坐标系的相对位置:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
</pre></div>
@@ -200,9 +496,9 @@
</section>
</section>
<section id="id3">
<h2>相机TF计算和发布机制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.5. </span>相机TF计算和发布机制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<section id="obcameranode-calcandpublishstatictransform">
<h3>核心函数:<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.4.5.1. </span>核心函数:<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
<p>相机节点通过此函数计算和发布所有传感器之间的静态转换关系。</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">OBCameraNode::calcAndPublishStaticTransform</span><span class="p">()</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -372,7 +668,7 @@
</div>
</section>
<section id="id4">
<h3>函数解析<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.4.5.2. </span>函数解析<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<p>下面是代码的详细解释:</p>
<p><strong>四元数初始化与坐标系变换</strong></p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -459,13 +755,16 @@
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@@ -6,7 +6,7 @@
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<li class="toctree-l5"><a class="reference internal" href="#id14">1.4.1.4.1. 固件与后端</a></li>
<li class="toctree-l5"><a class="reference internal" href="#tf">1.4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l5"><a class="reference internal" href="#id15">1.4.1.4.3. 时间同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="#id16">1.4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l5"><a class="reference internal" href="#id17">1.4.1.4.5. 其他</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id18">1.4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">1.4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">1.4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">1.4.2.1.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id5">1.4.2.1.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id6">1.4.2.1.4. 所有数据流</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id8">1.4.2.3. 设备信息与管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id9">1.4.2.4. 同步与触发</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id12">1.4.2.7. 点云下采样</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id2">1.4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id3">1.4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu">1.4.3.3. IMU话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#abtf">1.4.4.2. 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="coordinate_and_tf.html#ros2-vs">1.4.4.3. 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="coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id2">1.4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id3">1.4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. 压缩图像</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id1">1.4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#rviz2">1.4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id3">1.4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id5">1.4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 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">1.5.1.1.1. 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">1.5.1.1.2. 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">1.5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 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">1.5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 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">1.5.1.3.1. 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">1.5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 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">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 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">1.5.2.2.1. 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">1.5.2.2.2. 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">1.5.2.2.3. 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">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 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">1.5.2.3.1. 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">1.5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 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">1.5.2.4.2. 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">1.5.2.4.3. 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">1.5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 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">1.5.3.3. 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">1.5.3.4. 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">1.5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 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">1.5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 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">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. 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">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id2">1.6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id3">1.6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. 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">1.6.2.1. 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">1.6.2.2. 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">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">1.6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. 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">1.6.3.1. 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">1.6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">1.6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">1.6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">1.6.4.1.2. 相机配置(启动文件)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">1.6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">1.6.4.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. 开发者指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. 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">1.7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">1.7.1.2. 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">1.7.1.2.1. <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">1.7.1.2.2. <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">1.7.1.2.3. 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">1.7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">1.7.1.3. 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">1.7.1.3.1. <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">1.7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">1.7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">1.7.1.3.4. <strong>服务差异</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. 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">1.7.2.1. 准备环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">1.7.2.2. 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">1.7.2.3. 构建软件包</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. 常见问题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">1.8.1. 意外崩溃</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">1.8.2. 多相机无数据流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">1.8.3. 其他故障排除</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">1.8.4. 为什么有这么多启动文件?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">1.8.5. 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="../8_FAQ/FAQ.html#id7">1.8.6. 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="../8_FAQ/FAQ.html#femto-bolt">1.8.7. femto bolt 深度流无数据</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
@@ -95,7 +389,9 @@
<div role="navigation" aria-label="页面导航">
<ul class="wy-breadcrumbs">
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<li class="breadcrumb-item active">启动参数</li>
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<a href="../../../_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt" rel="nofollow"> 查看页面源码</a>
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@@ -106,13 +402,13 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
<h1>启动参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.1. </span>启动参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<blockquote>
<div><p>如果您不确定如何设置参数,可以连接orbbec相机并打开 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK/releases">OrbbecViewer</a>。</p>
</div></blockquote>
<p>以下是可用的启动参数:</p>
<section id="id2">
<h2>核心与数据流配置<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.1. </span>核心与数据流配置<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
<ul>
@@ -213,9 +509,9 @@
</ul>
</section>
<section id="id3">
<h2>传感器控制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.2. </span>传感器控制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<section id="id4">
<h3>彩色流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.2.1. </span>彩色流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_auto_exposure</span></code></strong></p>
<ul>
@@ -285,7 +581,7 @@
</ul>
</section>
<section id="id5">
<h3>深度流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.2.2. </span>深度流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_auto_exposure_priority</span></code></strong></p>
<ul class="simple">
@@ -318,7 +614,7 @@
</ul>
</section>
<section id="id6">
<h3>红外流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.2.3. </span>红外流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ir_auto_exposure</span></code></strong></p>
<ul>
@@ -343,7 +639,7 @@
</ul>
</section>
<section id="ldp">
<h3>激光 / LDP<a class="headerlink" href="#ldp" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.2.4. </span>激光 / LDP<a class="headerlink" href="#ldp" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_laser</span></code></strong></p>
<ul>
@@ -364,9 +660,9 @@
</section>
</section>
<section id="id7">
<h2>设备、同步与高级功能<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.3. </span>设备、同步与高级功能<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<section id="id8">
<h3>多相机同步<a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.1. </span>多相机同步<a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">sync_mode</span></code></strong></p>
<ul>
@@ -409,7 +705,7 @@
</div></blockquote>
</section>
<section id="id9">
<h3>网络相机<a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.2. </span>网络相机<a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
<ul>
@@ -452,7 +748,7 @@
</div></blockquote>
</section>
<section id="id10">
<h3>设备特定<a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.3. </span>设备特定<a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
<ul>
@@ -467,7 +763,7 @@
</ul>
</section>
<section id="id11">
<h3>视差<a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.4. </span>视差<a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">disparity_to_depth_mode</span></code></strong></p>
<ul>
@@ -482,7 +778,7 @@
</ul>
</section>
<section id="ae">
<h3>交错AE模式<a class="headerlink" href="#ae" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.5. </span>交错AE模式<a class="headerlink" href="#ae" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code></strong></p>
<ul>
@@ -503,7 +799,7 @@
</ul>
</section>
<section id="id12">
<h3>相机内同步<a class="headerlink" href="#id12" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.6. </span>相机内同步<a class="headerlink" href="#id12" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
<ul>
@@ -532,9 +828,9 @@
</section>
</section>
<section id="id13">
<h2>基础与通用参数<a class="headerlink" href="#id13" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.4. </span>基础与通用参数<a class="headerlink" href="#id13" title="Link to this heading"></a></h2>
<section id="id14">
<h3>固件与后端<a class="headerlink" href="#id14" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.1. </span>固件与后端<a class="headerlink" href="#id14" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">upgrade_firmware</span></code></strong></p>
<ul>
@@ -564,7 +860,7 @@
</ul>
</section>
<section id="tf">
<h3>TF、外参与校准<a class="headerlink" href="#tf" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.2. </span>TF、外参与校准<a class="headerlink" href="#tf" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">publish_tf</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">tf_publish_rate</span></code></strong></p>
<ul>
@@ -589,7 +885,7 @@
</ul>
</section>
<section id="id15">
<h3>时间同步<a class="headerlink" href="#id15" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.3. </span>时间同步<a class="headerlink" href="#id15" title="Link to this heading"></a></h3>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code></strong></p>
<ul class="simple">
@@ -622,7 +918,7 @@
</ul>
</section>
<section id="id16">
<h3>日志与诊断<a class="headerlink" href="#id16" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.4. </span>日志与诊断<a class="headerlink" href="#id16" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
<ul>
@@ -647,7 +943,7 @@
</ul>
</section>
<section id="id17">
<h3>其他<a class="headerlink" href="#id17" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.5. </span>其他<a class="headerlink" href="#id17" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">config_file_path</span></code></strong></p>
<ul>
@@ -668,7 +964,7 @@
</section>
</section>
<section id="imu">
<h2>IMU<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.5. </span>IMU<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_accel</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code></strong></p>
<ul>
@@ -703,7 +999,7 @@
</ul>
</section>
<section id="id18">
<h2>深度滤波器<a class="headerlink" href="#id18" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.6. </span>深度滤波器<a class="headerlink" href="#id18" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_decimation_filter</span></code></strong></p>
<ul>
@@ -771,13 +1067,16 @@
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@@ -6,7 +6,7 @@
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id8">1.4.1.3.1. 多相机同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ae">1.4.1.3.5. 交错AE模式</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id12">1.4.1.3.6. 相机内同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id13">1.4.1.4. 基础与通用参数</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id14">1.4.1.4.1. 固件与后端</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf">1.4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">1.4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">1.4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">1.4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">1.4.2.1.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id5">1.4.2.1.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id6">1.4.2.1.4. 所有数据流</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id8">1.4.2.3. 设备信息与管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id9">1.4.2.4. 同步与触发</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id12">1.4.2.7. 点云下采样</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id2">1.4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id3">1.4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu">1.4.3.3. IMU话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#abtf">1.4.4.2. 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="coordinate_and_tf.html#ros2-vs">1.4.4.3. 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="coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id2">1.4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id3">1.4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. 压缩图像</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id1">1.4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="#rviz2">1.4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="#id3">1.4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="#id5">1.4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 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">1.5.1.1.1. 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">1.5.1.1.2. 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">1.5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 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">1.5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 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">1.5.1.3.1. 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">1.5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 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">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 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">1.5.2.2.1. 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">1.5.2.2.2. 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">1.5.2.2.3. 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">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 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">1.5.2.3.1. 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">1.5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 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">1.5.2.4.2. 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">1.5.2.4.3. 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">1.5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 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">1.5.3.3. 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">1.5.3.4. 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">1.5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 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">1.5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 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">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. 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">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id2">1.6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id3">1.6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. 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">1.6.2.1. 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">1.6.2.2. 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">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">1.6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. 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">1.6.3.1. 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">1.6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">1.6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">1.6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">1.6.4.1.2. 相机配置(启动文件)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">1.6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">1.6.4.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. 开发者指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. 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">1.7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">1.7.1.2. 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">1.7.1.2.1. <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">1.7.1.2.2. <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">1.7.1.2.3. 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">1.7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
</ul>
</li>
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@@ -95,7 +389,9 @@
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<h1>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.6. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
<p>本节演示如何从相机节点启用点云数据输出并使用RViz2进行可视化。</p>
<section id="id1">
<h2>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.6.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<section id="id2">
<h3>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.6.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<p>要激活深度信息的点云数据流,使用以下命令:</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>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="rviz2">
<h3>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.6.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<p>运行上述命令后,执行以下步骤可视化深度点云:</p>
<ol class="simple">
<li><p>打开RViz2。</p></li>
@@ -134,16 +430,16 @@
</section>
</section>
<section id="id3">
<h2>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.6.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<section id="id4">
<h3>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.6.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<p>要启用彩色点云功能,输入以下命令:</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>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="id5">
<h3>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.6.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<p>要可视化彩色点云数据:</p>
<ol class="simple">
<li><p>执行命令后启动RViz2。</p></li>
@@ -163,13 +459,16 @@
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#abtf">1.4.4.2. 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="coordinate_and_tf.html#ros2-vs">1.4.4.3. 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="coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id2">1.4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id3">1.4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. 压缩图像</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id1">1.4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#rviz2">1.4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id3">1.4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id5">1.4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 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">1.5.1.1.1. 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">1.5.1.1.2. 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">1.5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 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">1.5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 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">1.5.1.3.1. 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">1.5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 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">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 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">1.5.2.2.1. 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">1.5.2.2.2. 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">1.5.2.2.3. 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">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 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">1.5.2.3.1. 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">1.5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 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">1.5.2.4.2. 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">1.5.2.4.3. 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">1.5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 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">1.5.3.3. 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">1.5.3.4. 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">1.5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 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">1.5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 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">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. 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">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id2">1.6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id3">1.6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. 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">1.6.2.1. 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">1.6.2.2. 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">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">1.6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. 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">1.6.3.1. 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">1.6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">1.6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">1.6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">1.6.4.1.2. 相机配置(启动文件)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">1.6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">1.6.4.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. 开发者指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. 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">1.7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">1.7.1.2. 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">1.7.1.2.1. <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">1.7.1.2.2. <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">1.7.1.2.3. 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">1.7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">1.7.1.3. 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">1.7.1.3.1. <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">1.7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">1.7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">1.7.1.3.4. <strong>服务差异</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. 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">1.7.2.1. 准备环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">1.7.2.2. 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">1.7.2.3. 构建软件包</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. 常见问题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">1.8.1. 意外崩溃</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">1.8.2. 多相机无数据流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">1.8.3. 其他故障排除</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">1.8.4. 为什么有这么多启动文件?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">1.8.5. 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="../8_FAQ/FAQ.html#id7">1.8.6. 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="../8_FAQ/FAQ.html#femto-bolt">1.8.7. femto bolt 深度流无数据</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
@@ -95,7 +389,9 @@
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<h1>所有可用的相机控制服务<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.2. </span>所有可用的相机控制服务<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<blockquote>
<div><p><strong>注意:</strong> 与特定数据流相关的服务(例如 <code class="docutils literal notranslate"><span class="pre">/camera/set_color_*</span></code>)仅在启动文件中启用该数据流时可用(例如 <code class="docutils literal notranslate"><span class="pre">enable_color:=true</span></code>)。</p>
</div></blockquote>
<section id="id2">
<h2>数据流控制<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.1. </span>数据流控制<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<section id="id3">
<h3>彩色流<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.2.1.1. </span>彩色流<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_color</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_color<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -153,7 +449,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id4">
<h3>深度流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.2.1.2. </span>深度流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_depth</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_depth<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -193,7 +489,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id5">
<h3>红外流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.2.1.3. </span>红外流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_ir</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_ir<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -237,7 +533,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id6">
<h3>所有数据流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.2.1.4. </span>所有数据流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_streams_enable</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/set_streams_enable</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_streams_enable<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
@@ -249,7 +545,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</section>
</section>
<section id="id7">
<h2>传感器与发射器控制<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.2. </span>传感器与发射器控制<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_auto_white_balance</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_auto_white_balance</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_auto_white_balance<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -302,7 +598,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id8">
<h2>设备信息与管理<a class="headerlink" href="#id8" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.3. </span>设备信息与管理<a class="headerlink" href="#id8" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_device_info</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo
@@ -322,7 +618,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id9">
<h2>同步与触发<a class="headerlink" href="#id9" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.4. </span>同步与触发<a class="headerlink" href="#id9" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/send_software_trigger</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/send_software_trigger<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -349,7 +645,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id10">
<h2>深度滤波器配置<a class="headerlink" href="#id10" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.5. </span>深度滤波器配置<a class="headerlink" href="#id10" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_filter</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 设置DecimationFilter</span>
@@ -383,7 +679,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id11">
<h2>数据捕获与校准管理<a class="headerlink" href="#id11" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.6. </span>数据捕获与校准管理<a class="headerlink" href="#id11" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_images</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/save_images<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
@@ -430,7 +726,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id12">
<h2>点云下采样<a class="headerlink" href="#id12" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.7. </span>点云下采样<a class="headerlink" href="#id12" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_point_cloud_decimation</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
@@ -449,13 +745,16 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
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@@ -6,7 +6,7 @@
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<li class="toctree-l4"><a class="reference internal" href="services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id8">1.4.2.3. 设备信息与管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id9">1.4.2.4. 同步与触发</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id12">1.4.2.7. 点云下采样</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id2">1.4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id3">1.4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="#imu">1.4.3.3. IMU话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id4">1.4.3.4. 设备状态与诊断</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#abtf">1.4.4.2. 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="coordinate_and_tf.html#ros2-vs">1.4.4.3. 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="coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id2">1.4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id3">1.4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. 压缩图像</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id1">1.4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#rviz2">1.4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id3">1.4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#id5">1.4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 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">1.5.1.1.1. 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">1.5.1.1.2. 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">1.5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 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">1.5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 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">1.5.1.3.1. 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">1.5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 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">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 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">1.5.2.2.1. 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">1.5.2.2.2. 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">1.5.2.2.3. 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">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 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">1.5.2.3.1. 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">1.5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 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">1.5.2.4.2. 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">1.5.2.4.3. 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">1.5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 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">1.5.3.3. 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">1.5.3.4. 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">1.5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 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">1.5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 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">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. 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">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id2">1.6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#id3">1.6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. 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">1.6.2.1. 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">1.6.2.2. 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">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">1.6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. 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">1.6.3.1. 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">1.6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">1.6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">1.6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">1.6.4.1.2. 相机配置(启动文件)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">1.6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">1.6.4.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. 开发者指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. 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">1.7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">1.7.1.2. 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">1.7.1.2.1. <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">1.7.1.2.2. <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">1.7.1.2.3. 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">1.7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">1.7.1.3. 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">1.7.1.3.1. <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">1.7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">1.7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">1.7.1.3.4. <strong>服务差异</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. 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">1.7.2.1. 准备环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">1.7.2.2. 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">1.7.2.3. 构建软件包</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. 常见问题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">1.8.1. 意外崩溃</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">1.8.2. 多相机无数据流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">1.8.3. 其他故障排除</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">1.8.4. 为什么有这么多启动文件?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">1.8.5. 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="../8_FAQ/FAQ.html#id7">1.8.6. 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="../8_FAQ/FAQ.html#femto-bolt">1.8.7. femto bolt 深度流无数据</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
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<li class="breadcrumb-item"><a href="../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">1.4. </span>应用指南</a></li>
<li class="breadcrumb-item active"><span class="section-number">1.4.3. </span>可用话题</li>
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@@ -106,13 +402,13 @@
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<h1>可用话题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.3. </span>可用话题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<p>话题按数据流和功能组织。默认情况下,所有话题都发布在 <code class="docutils literal notranslate"><span class="pre">/camera</span></code> 命名空间下,可以通过 <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> 启动参数进行更改。</p>
<blockquote>
<div><p><strong>注意:</strong> 特定数据流的话题(例如 <code class="docutils literal notranslate"><span class="pre">/camera/color/...</span></code>)只有在相应的启动参数(例如 <code class="docutils literal notranslate"><span class="pre">enable_color</span></code>)设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时才会发布。</p>
</div></blockquote>
<section id="id2">
<h2>图像流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.3.1. </span>图像流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<p>这些话题提供每个启用的相机数据流的原始图像数据和相应的校准信息。对于 <code class="docutils literal notranslate"><span class="pre">color</span></code>、<code class="docutils literal notranslate"><span class="pre">depth</span></code>、<code class="docutils literal notranslate"><span class="pre">ir</span></code>、<code class="docutils literal notranslate"><span class="pre">left_ir</span></code> 和 <code class="docutils literal notranslate"><span class="pre">right_ir</span></code> 数据流,模式是一致的。</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code></p>
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</ul>
</section>
<section id="id3">
<h2>点云话题<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.3.2. </span>点云话题<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code></p>
<ul>
@@ -180,7 +476,7 @@
</ul>
</section>
<section id="imu">
<h2>IMU话题<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.3.3. </span>IMU话题<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<p>惯性测量单元(IMU)话题提供加速度计和陀螺仪数据。其行为取决于同步设置。</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/accel/sample</span></code></p>
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</ul>
</section>
<section id="id4">
<h2>设备状态与诊断<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.3.4. </span>设备状态与诊断<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/device_status</span></code></p>
<ul>
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