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<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1.1. 概述</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
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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>
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<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-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
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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-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>
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<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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</ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
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</ul>
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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>
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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-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
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</ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/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-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
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</ul>
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</li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/launch_parameters.html#id12">1.4.1.3.6. 相机内同步</a></li>
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</ul>
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</li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">1.4.1.4. 基础与通用参数</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">1.4.1.4.1. 固件与后端</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">1.4.1.4.2. TF、外参与校准</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
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</ul>
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</li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">1.4.1.6. 深度滤波器</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">1.4.2. 所有可用的相机控制服务</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id6">1.4.2.1.4. 所有数据流</a></li>
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</ul>
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</li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id8">1.4.2.3. 设备信息与管理</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id12">1.4.2.7. 点云下采样</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">1.4.4. 坐标系和 TF 变换</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/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>
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||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/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>
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||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">1.4.4.4.1. 查看TF树结构</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
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</ul>
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</li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">1.4.4.5. 相机TF计算和发布机制</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">1.4.6.1. 启用深度点云</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/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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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">1.4.6.2. 启用彩色点云</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/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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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">1.5. 高级指南</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="#id2">1.5.1. 性能与优化</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html">1.5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#cpu">1.5.1.1.1. 降低CPU使用率的推荐设置</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#id1">1.5.1.1.2. 用于测试的启动文件</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#id2">1.5.1.1.3. 测试环境</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html">1.5.1.2. 高效的进程内通信:</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="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="#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="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="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="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="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="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="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="multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="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="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="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="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="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="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="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="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="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="configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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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||||
@@ -95,7 +389,8 @@
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<li class="breadcrumb-item active">高级指南</li>
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<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">
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<h1>高级指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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||||
<h1><span class="section-number">1.5. </span>高级指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>本章介绍SDK的高级功能,包括多相机使用和特殊配置模式。</p>
|
||||
<section id="id2">
|
||||
<h2>性能与优化<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1. </span>性能与优化<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/lower_cpu_usage.html">使用Orbbec ROS包降低CPU使用率</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#cpu">降低CPU使用率的推荐设置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id1">用于测试的启动文件</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id2">测试环境</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id3">测试设置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id4">测试结果</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id5">进一步优化</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="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-l2"><a class="reference internal" href="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-l2"><a class="reference internal" href="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-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id2">1.5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/efficient_intra_process_communication.html">高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#id2">简介</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#id3">示例</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/efficient_intra_process_communication.html">1.5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#id2">1.5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="performance/fastdds_tuning.html">针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#id1">调整系统参数</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds">Fast DDS配置</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="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-l2"><a class="reference internal" href="performance/fastdds_tuning.html#id1">1.5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds">1.5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2>多相机<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2. </span>多相机<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera.html">多相机</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#id2">多相机无数据流</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#id3">多相机图像话题帧率过低</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#id2">1.5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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-l1"><a class="reference internal" href="multi_camera/multi_camera_synced.html">多相机同步说明</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id2">设置说明</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2">使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id3">OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id4">运行以下命令启动多相机同步</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced.html">1.5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id2">1.5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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-l2"><a class="reference internal" href="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-l2"><a class="reference internal" href="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-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id2">使用教程</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id5">必要系统配置</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="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-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id2">1.5.2.3.1. 使用教程</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">GMSL 相机</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id1">单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id2">多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id3">多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id4">GMSL 相机的使用限制</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id2">1.5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id3">1.5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id4">1.5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2>配置与模式<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3. </span>配置与模式<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/align_depth_color.html">在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#id1">对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#rviz2">在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#id2">深度到彩色叠加示例</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="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-l2"><a class="reference internal" href="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-l2"><a class="reference internal" href="configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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-l1"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/depth_work_mode_switch.html">深度工作模式切换</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/disparity_search_offset.html">视差搜索偏移</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id2">功能介绍</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id3">参数介绍</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id4">运行启动文件</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="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-l1"><a class="reference internal" href="configuration/depth_work_mode_switch.html">1.5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/disparity_search_offset.html">1.5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id2">1.5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="configuration/interleave_ae_mode.html">在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#id1">参数介绍</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#id2">运行启动文件</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">Multi_camera_synced + Interleave_ae</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="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-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#id1">1.5.3.5.1. 参数介绍</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="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-l1"><a class="reference internal" href="configuration/predefined_presets.html">预定义预设</a></li>
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||||
<li class="toctree-l1"><a class="reference internal" href="configuration/net_camera.html">网络相机</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#set-device-ip">set_device_ip 工具</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#ip">强制 IP 功能</a></li>
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||||
<li class="toctree-l1"><a class="reference internal" href="configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
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||||
<li class="toctree-l1"><a class="reference internal" href="configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul class="current">
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">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="#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="#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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="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="depth_work_mode_switch.html">1.5.3.3. 深度工作模式切换</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="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="disparity_search_offset.html#id2">1.5.3.4.1. 功能介绍</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
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||||
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|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
|
||||
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||||
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|
||||
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||||
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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>
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<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>
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||||
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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>
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||||
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||||
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||||
<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>
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||||
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||||
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|
||||
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||||
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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>
|
||||
</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>
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||||
</li>
|
||||
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|
||||
</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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||||
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||||
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||||
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||||
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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>
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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>
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<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>
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||||
<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>
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<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>
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<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>
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<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>
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<li class="breadcrumb-item active">在 ROS 2 中对齐深度到彩色</li>
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<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="ros-2">
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<h1>在 ROS 2 中对齐深度到彩色<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
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<h1><span class="section-number">1.5.3.1. </span>在 ROS 2 中对齐深度到彩色<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
|
||||
<p>本节说明如何使用 ROS 2 将深度图像与彩色图像对齐以创建叠加图像。这对于需要来自不同传感器模态的同步视觉信息的应用特别有用。</p>
|
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<section id="id1">
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||||
<h2>对齐和查看深度和彩色图像的命令<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.1.1. </span>对齐和查看深度和彩色图像的命令<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<ol>
|
||||
<li><p><strong>基本深度到彩色对齐:</strong></p>
|
||||
<p>要简单地将深度图像对齐到彩色图像,请使用以下命令:</p>
|
||||
@@ -128,7 +424,7 @@
|
||||
</ol>
|
||||
</section>
|
||||
<section id="rviz2">
|
||||
<h2>在 RViz2 中选择话题<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.1.2. </span>在 RViz2 中选择话题<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h2>
|
||||
<p>要在 RViz2 中可视化对齐的图像:</p>
|
||||
<ol>
|
||||
<li><p>运行上述命令之一后启动 RViz2。</p></li>
|
||||
@@ -138,7 +434,7 @@
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||||
</ol>
|
||||
</section>
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<section id="id2">
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<h2>深度到彩色叠加示例<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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<h2><span class="section-number">1.5.3.1.3. </span>深度到彩色叠加示例<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>在 RViz2 中选择适当的话题后,您将能够看到深度到彩色叠加图像。它可能看起来像这样:</p>
|
||||
<p><img alt="深度到彩色叠加图像" src="../../../../_images/image4.jpg" /></p>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. 安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">1.2.2. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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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|
||||
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|
||||
</ul>
|
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|
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<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul class="current">
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||||
<li class="toctree-l4"><a class="reference internal" href="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="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>
|
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<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
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<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
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|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
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<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">1.5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#id1">1.5.3.5.1. 参数介绍</a></li>
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<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#id2">1.5.3.5.2. 运行启动文件</a></li>
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<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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|
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<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</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>
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<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>
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||||
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||||
<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>
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">1.7.1.1. 引言</a></li>
|
||||
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|
||||
<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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<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>
|
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|
||||
<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>
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||||
<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>
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||||
<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>
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||||
<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-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>
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<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>
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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>
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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>
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<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>
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<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>深度 NFOV 和 WFOV 模式配置<a class="headerlink" href="#nfov-wfov" title="Link to this heading"></a></h1>
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<h1><span class="section-number">1.5.3.2. </span>深度 NFOV 和 WFOV 模式配置<a class="headerlink" href="#nfov-wfov" title="Link to this heading"></a></h1>
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<p>对于 Femto Mega 和 Femto Bolt 设备,NFOV 和 WFOV 模式通过在启动文件中配置深度和 IR 的分辨率来实现。</p>
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<p>在启动文件中,depth_width、depth_height、ir_width、ir_height 分别表示深度的分辨率和 IR 的分辨率。</p>
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<p>IR 的帧率和分辨率必须与深度保持一致。不同模式与分辨率的对应关系如下:</p>
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">1.2.2. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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 current"><a class="current reference internal" href="#">1.5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="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="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="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="predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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>
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||||
</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>
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||||
</li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
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@@ -95,7 +389,9 @@
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<div role="navigation" aria-label="页面导航">
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<li class="breadcrumb-item active">深度工作模式切换</li>
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">1.5. </span>高级指南</a></li>
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<li class="breadcrumb-item active"><span class="section-number">1.5.3.3. </span>深度工作模式切换</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.md.txt" rel="nofollow"> 查看页面源码</a>
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@@ -106,7 +402,7 @@
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<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">
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<h1>深度工作模式切换<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<h1><span class="section-number">1.5.3.3. </span>深度工作模式切换<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<p>Orbbec SDK ROS 2 支持深度工作模式切换。Gemini 2、Gemini 2 L 和 Femto 以及 Femto Bolt 相机支持深度工作模式切换。</p>
|
||||
<ul class="simple">
|
||||
<li><p>在启动相机之前,可以为相应的 xxx.launch.py 文件的支持配置深度工作模式(depth_work_mode)。</p></li>
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<title>视差搜索偏移 — OrbbecSDK V2 ROS2 封装 文档</title>
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<title>1.5.3.4. 视差搜索偏移 — OrbbecSDK V2 ROS2 封装 文档</title>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. 概述</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1.1. 引言</a><ul>
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<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>
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<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-l4"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.1.3. 支持的平台</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK 概述</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">1.2.2. 二进制安装</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="depth_work_mode_switch.html">1.5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id2">1.5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id3">1.5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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="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="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="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="interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
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|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
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||||
</li>
|
||||
</ul>
|
||||
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||||
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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>
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||||
<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>
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||||
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||||
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||||
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||||
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||||
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||||
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<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>
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||||
</ul>
|
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</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>
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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>
|
||||
</ul>
|
||||
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|
||||
</ul>
|
||||
</li>
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||||
<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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||||
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||||
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||||
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||||
</li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
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@@ -95,7 +389,9 @@
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<li class="breadcrumb-item active">视差搜索偏移</li>
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> 查看页面源码</a>
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@@ -106,17 +402,17 @@
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<div itemprop="articleBody">
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<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">
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<h1>视差搜索偏移<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<h1><span class="section-number">1.5.3.4. </span>视差搜索偏移<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本节介绍如何在 Gemini330 系列相机中使用 disparity_search_offset 功能(相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>)。Disparity_search_offset 仅对深度流的 1280×720、1280×800 和 640×400 分辨率有效。</p>
|
||||
</div></blockquote>
|
||||
<section id="id2">
|
||||
<h2>功能介绍<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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||||
<h2><span class="section-number">1.5.3.4.1. </span>功能介绍<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>视差搜索范围的定义:对于左图像中的任何像素 <em>(u_l, v)</em>,默认情况下,右图像中对应的视差搜索范围为 <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>,其中视差搜索长度为 256,最大整数视差为 255。如果将搜索的起点调整为 <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>,则偏移量定义为视差偏移。因此,我们的视差搜索范围配置包括视差搜索长度和搜索位置偏移(也可称为视差偏移)。</p>
|
||||
<p><img alt="深度点云可视化" src="../../../../_images/search_offset0.png" /></p>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2>参数介绍<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.4.2. </span>参数介绍<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>disparity_search_offset 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code>:视差搜索长度,只能设置为 64、128 和 256。</p></li>
|
||||
@@ -192,7 +488,7 @@
|
||||
</tbody>
|
||||
</table></section>
|
||||
<section id="id4">
|
||||
<h2>运行启动文件<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.4.3. </span>运行启动文件<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<p>设置 disparity_search_offset 参数,重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</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
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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<title>在 Gemini330 系列相机中使用 interleave_ae — OrbbecSDK V2 ROS2 封装 文档</title>
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<title>1.5.3.5. 在 Gemini330 系列相机中使用 interleave_ae — OrbbecSDK V2 ROS2 封装 文档</title>
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK 概述</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. 安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">1.2.2. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="depth_work_mode_switch.html">1.5.3.3. 深度工作模式切换</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">1.5.3.4. 视差搜索偏移</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#id2">1.5.3.4.1. 功能介绍</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">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="#id1">1.5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id2">1.5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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="predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
|
||||
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||||
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|
||||
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|
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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>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
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<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>
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||||
<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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||||
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<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>
|
||||
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||||
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||||
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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>
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||||
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
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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>
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||||
<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>
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||||
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||||
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<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>
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||||
</ul>
|
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</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>
|
||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</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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||||
</ul>
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||||
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<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>
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<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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||||
</ul>
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||||
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
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@@ -95,7 +389,9 @@
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<li class="breadcrumb-item active">在 Gemini330 系列相机中使用 interleave_ae</li>
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">1.5. </span>高级指南</a></li>
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<li class="breadcrumb-item active"><span class="section-number">1.5.3.5. </span>在 Gemini330 系列相机中使用 interleave_ae</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.md.txt" rel="nofollow"> 查看页面源码</a>
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@@ -106,12 +402,12 @@
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<div itemprop="articleBody">
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<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="gemini330-interleave-ae">
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||||
<h1>在 Gemini330 系列相机中使用 interleave_ae<a class="headerlink" href="#gemini330-interleave-ae" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.3.5. </span>在 Gemini330 系列相机中使用 interleave_ae<a class="headerlink" href="#gemini330-interleave-ae" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本节介绍如何在 Gemini 330 系列相机中使用 interleave_ae(相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>)</p>
|
||||
</div></blockquote>
|
||||
<section id="id1">
|
||||
<h2>参数介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.5.1. </span>参数介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<p>interleave_ae 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code>:设置激光或 hdr 交错。</p></li>
|
||||
@@ -149,7 +445,7 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id2">
|
||||
<h2>运行启动文件<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.5.2. </span>运行启动文件<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>设置 interleave_ae 参数,重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</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
|
||||
</pre></div>
|
||||
@@ -159,7 +455,7 @@
|
||||
<p><img alt="深度点云可视化" src="../../../../_images/interleave_ae1.jpeg" /></p>
|
||||
</section>
|
||||
<section id="multi-camera-synced-interleave-ae">
|
||||
<h2>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<p>请参考 <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> 和 <a class="reference external" href="#%E5%8F%82%E6%95%B0%E4%BB%8B%E7%BB%8D">参数介绍</a></p>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1.1. 引言</a><ul>
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<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>
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<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-l4"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.1.3. 支持的平台</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK 概述</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">1.2.2. 二进制安装</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
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</ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
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</li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
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</ul>
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</li>
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</ul>
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</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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id12">1.4.1.3.6. 相机内同步</a></li>
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="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="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="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="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="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="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="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="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="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="predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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>
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||||
</li>
|
||||
</ul>
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||||
</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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||||
@@ -95,7 +389,9 @@
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<div role="navigation" aria-label="页面导航">
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<li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item active">网络相机</li>
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">1.5. </span>高级指南</a></li>
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<li class="breadcrumb-item active"><span class="section-number">1.5.3.7. </span>网络相机</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt" rel="nofollow"> 查看页面源码</a>
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||||
</li>
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@@ -106,13 +402,13 @@
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||||
<div itemprop="articleBody">
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<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>网络相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.3.7. </span>网络相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用网络相机。目前仅支持 Femto_Mega、Gemini 335Le 和 Gemini 435Le 设备,其他网络设备将在不久的将来得到支持。</p>
|
||||
</div></blockquote>
|
||||
<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
|
||||
<section id="femto-mega-gemini-435le-gemini-335le">
|
||||
<h2>Femto Mega & Gemini 435Le & Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.7.1. </span>Femto Mega & Gemini 435Le & Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
|
||||
<p><strong>参数介绍</strong></p>
|
||||
<p>网络设备设置:<code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 true,将自动枚举网络设备。</p>
|
||||
<p>如果您不想自动枚举网络设备,可以将 <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 false,将 <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 设置为设备的 IP 地址,并将 <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> 设置为默认值 8090。</p>
|
||||
@@ -146,7 +442,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="set-device-ip">
|
||||
<h2>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.7.2. </span>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="Link to this heading"></a></h2>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置,包括在 DHCP 和静态 IP 之间切换,以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。</p>
|
||||
<blockquote>
|
||||
<div><p><strong>注意:<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>,如果设备断电或重启,<strong>不会重置</strong>。</p>
|
||||
@@ -170,7 +466,7 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="ip">
|
||||
<h2>强制 IP 功能<a class="headerlink" href="#ip" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.3.7.3. </span>强制 IP 功能<a class="headerlink" href="#ip" title="Link to this heading"></a></h2>
|
||||
<p><strong>强制 IP</strong> 功能允许您为网络相机分配<strong>静态 IP 地址</strong>,覆盖 DHCP 设置。当连接多个网络相机时,这非常有用,您需要每个设备具有固定的 IP 以实现可靠的通信。</p>
|
||||
<blockquote>
|
||||
<div><p><strong>注意:<strong>如果设备断电或重启,强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。</p>
|
||||
@@ -203,13 +499,16 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
|
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</div>
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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-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id12">1.4.1.3.6. 相机内同步</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id14">1.4.1.4.1. 固件与后端</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf">1.4.1.4.2. TF、外参与校准</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/services.html">1.4.2. 所有可用的相机控制服务</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/services.html#id7">1.4.2.2. 传感器与发射器控制</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id8">1.4.2.3. 设备信息与管理</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id12">1.4.2.7. 点云下采样</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">1.4.4.1. 相机传感器结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">1.4.4.4. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">1.4.4.4.1. 查看TF树结构</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">1.4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/point_cloud.html">1.4.6. 在ROS 2中启用和可视化点云</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">1.4.6.1. 启用深度点云</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">1.4.6.1.1. 启用深度点云的命令</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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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||||
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">1.4.6.2. 启用彩色点云</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">1.4.6.2.1. 启用彩色点云的命令</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
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<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">1.5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">1.5.1.1.1. 降低CPU使用率的推荐设置</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">1.5.1.1.2. 用于测试的启动文件</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="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="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="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="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="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="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="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="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="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 current"><a class="current reference internal" href="#">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
<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>
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||||
</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>
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||||
</li>
|
||||
</ul>
|
||||
</li>
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||||
<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>
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||||
<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>
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||||
<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>
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||||
<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>
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||||
<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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||||
</ul>
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||||
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
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<title>GMSL 相机 — OrbbecSDK V2 ROS2 封装 文档</title>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. 概述</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.1.3. 支持的平台</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
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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>
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<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-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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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</ul>
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</li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
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</ul>
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</ul>
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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-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
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</ul>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
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</li>
|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id8">1.4.1.3.1. 多相机同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id12">1.4.1.3.6. 相机内同步</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id6">1.4.2.1.4. 所有数据流</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id3">1.5.2. 多相机</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="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="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="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="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="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="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 current"><a class="current reference internal" href="#">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id1">1.5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id2">1.5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id3">1.5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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 @@
|
||||
<div role="navigation" aria-label="页面导航">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">GMSL 相机</li>
|
||||
<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
|
||||
<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">1.5. </span>高级指南</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">1.5.2.4. </span>GMSL 相机</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../../_sources/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
@@ -106,20 +402,20 @@
|
||||
<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="gmsl">
|
||||
<h1>GMSL 相机<a class="headerlink" href="#gmsl" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.2.4. </span>GMSL 相机<a class="headerlink" href="#gmsl" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用 GMSL 相机。目前仅支持 Gemini 335Lg 和 Gemini 345Lg 设备,其他 GMSL 设备将在不久的将来得到支持。</p>
|
||||
</div></blockquote>
|
||||
<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
|
||||
<section id="id1">
|
||||
<h2>单个 GMSL 相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.4.1. </span>单个 GMSL 相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<p>GMSL 相机在 OrbbecSDK_ROS2 中的使用与通过 USB 的 Gemini 330 系列相机相同。</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_gmsl.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id2">
|
||||
<h2>多个 GMSL 相机<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.4.2. </span>多个 GMSL 相机<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>要获取 GMSL 相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>,插入相机并在终端中运行以下命令:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
|
||||
</pre></div>
|
||||
@@ -134,7 +430,7 @@
|
||||
</div></blockquote>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2>多个 GMSL 相机同步<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.4.3. </span>多个 GMSL 相机同步<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>首先,请查看如何使用 <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>。</p>
|
||||
<p>此外,GMSL 多相机同步不需要 Multi-Camera Sync Hub Pro,因此无需设置 <code class="docutils literal notranslate"><span class="pre">primary</span></code> 模式。每个 GMSL 相机都是 <code class="docutils literal notranslate"><span class="pre">secondary</span></code>。</p>
|
||||
<p><strong>额外的参数设置</strong></p>
|
||||
@@ -152,7 +448,7 @@
|
||||
</div></blockquote>
|
||||
</section>
|
||||
<section id="id4">
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<h2>GMSL 相机的使用限制<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.4.4. </span>GMSL 相机的使用限制<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<p>GMSL 相机与各种反序列化器芯片(如 MAX9296 和 MAX92716)接口。Orbbec GMSL 相机支持多个流,包括深度、彩色、IR 和 IMU 数据,但存在某些使用限制:</p>
|
||||
<ul class="simple">
|
||||
<li><p>GMSL 仅支持 V4L2 和 YUYV 格式;不支持 MJPG 格式。RGB 输出源自 YUYV 格式转换。</p></li>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. 概述</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1.1. 引言</a><ul>
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<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>
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<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-l4"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.1.3. 支持的平台</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
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||||
</ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id6">1.4.2.1.4. 所有数据流</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
|
||||
</ul>
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||||
</li>
|
||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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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||||
</ul>
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||||
</li>
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</ul>
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||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id3">1.5.2. 多相机</a><ul class="current">
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id2">1.5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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="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="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="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="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="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="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="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="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="gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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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||||
<div role="navigation" aria-label="页面导航">
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||||
<ul class="wy-breadcrumbs">
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||||
<li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item active">多相机</li>
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">1.5. </span>高级指南</a></li>
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||||
<li class="breadcrumb-item active"><span class="section-number">1.5.2.1. </span>多相机</li>
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||||
<li class="wy-breadcrumbs-aside">
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
@@ -106,7 +402,7 @@
|
||||
<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>多相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.2.1. </span>多相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<ul class="simple">
|
||||
<li><p>要获取相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>,插入相机并在终端中运行以下命令:</p></li>
|
||||
</ul>
|
||||
@@ -171,7 +467,7 @@
|
||||
</pre></div>
|
||||
</div>
|
||||
<section id="id2">
|
||||
<h2>多相机无数据流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.1.1. </span>多相机无数据流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p><strong>电源供应不足</strong>:</p>
|
||||
<ul class="simple">
|
||||
<li><p>确保每个相机连接到单独的集线器。</p></li>
|
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|
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</ul>
|
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</section>
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<section id="id3">
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<h2>多相机图像话题帧率过低<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.1.2. </span>多相机图像话题帧率过低<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>请参考 <a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">Fast DDS 配置</span></a> 文件。</p>
|
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<title>多相机同步说明 — OrbbecSDK V2 ROS2 封装 文档</title>
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<title>1.5.2.2. 多相机同步说明 — OrbbecSDK V2 ROS2 封装 文档</title>
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
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<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-l4"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.1.3. 支持的平台</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
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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>
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||||
<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-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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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||||
</ul>
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||||
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
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||||
</li>
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||||
</ul>
|
||||
</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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
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||||
</ul>
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||||
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id8">1.4.1.3.1. 多相机同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id18">1.4.1.6. 深度滤波器</a></li>
|
||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id6">1.4.2.1.4. 所有数据流</a></li>
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id4">1.4.3.4. 设备状态与诊断</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">1.4.4.4.2. 使用rviz2可视化TF树</a></li>
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||||
</ul>
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</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">1.4.4.5.2. 函数解析</a></li>
|
||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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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||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id3">1.5.2. 多相机</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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 current"><a class="current reference internal" href="#">1.5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id2">1.5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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="#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="#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="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="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="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="gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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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||||
@@ -95,7 +389,9 @@
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<div role="navigation" aria-label="页面导航">
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<li class="breadcrumb-item active">多相机同步说明</li>
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<li class="breadcrumb-item active"><span class="section-number">1.5.2.2. </span>多相机同步说明</li>
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@@ -106,12 +402,12 @@
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<div itemprop="articleBody">
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<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">
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||||
<h1>多相机同步说明<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.2.2. </span>多相机同步说明<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本文档的目的是说明如何在 OrbbecSDK_ROS2 中使用多相机同步</p>
|
||||
</div></blockquote>
|
||||
<section id="id2">
|
||||
<h2>设置说明<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.2.1. </span>设置说明<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>请阅读多相机同步设置指南:<a class="reference external" href="https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/">多相机同步设置</a></p></li>
|
||||
<li><p>确保相机正确连接到多相机同步器。</p></li>
|
||||
@@ -119,13 +415,13 @@
|
||||
<p><img alt="深度点云可视化" src="../../../../_images/multi_camera_synced1.png" /></p>
|
||||
</section>
|
||||
<section id="orbbecsdk-ros2">
|
||||
<h2>使用 OrbbecSDK_ROS2 检查相机端口<a class="headerlink" href="#orbbecsdk-ros2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.2.2. </span>使用 OrbbecSDK_ROS2 检查相机端口<a class="headerlink" href="#orbbecsdk-ros2" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2>OrbbecSDK_ROS2 多相机同步配置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.2.3. </span>OrbbecSDK_ROS2 多相机同步配置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>打开 multi_camera_synced.launch.py,并按照下面所示配置相机设置:</p>
|
||||
<p><img alt="深度点云可视化" src="../../../../_images/multi_camera_synced2.png" /></p>
|
||||
<ol class="simple">
|
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|
||||
</ul>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2>运行以下命令启动多相机同步<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.2.4. </span>运行以下命令启动多相机同步<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<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>multi_camera_synced.launch.py
|
||||
</pre></div>
|
||||
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||||
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|
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<footer>
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<span class="lastupdated">最后更新于 2026年01月04日 01:26:43.
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>多相机同步验证节点 — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<title>1.5.2.3. 多相机同步验证节点 — OrbbecSDK V2 ROS2 封装 文档</title>
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<link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
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<ul class="current">
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<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1.1. 概述</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1.1. 引言</a><ul>
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<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>
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<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-l4"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.1.3. 支持的平台</a></li>
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</ul>
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK 概述</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
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</ul>
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|
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. 安装</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">1.2.2. 二进制安装</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id3">1.5.2. 多相机</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="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="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="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 current"><a class="current reference internal" href="#">1.5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id2">1.5.2.3.1. 使用教程</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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="gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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>
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||||
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
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|
||||
<a href="../../../../_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
@@ -106,15 +402,15 @@
|
||||
<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>多相机同步验证节点<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.2.3. </span>多相机同步验证节点<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>文件路径:<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp">image_sync_example_node.cpp</a></p>
|
||||
<p>此示例节点用于 <strong>4 台 Orbbec 相机</strong> 的同步采集与时间戳验证。
|
||||
它可用于验证多相机主从同步(Primary / Secondary Synced)模式下的帧对齐精度。</p>
|
||||
<hr class="docutils" />
|
||||
<section id="id2">
|
||||
<h2>使用教程<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.3.1. </span>使用教程<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<section id="multi-camera-synced-launch-py">
|
||||
<h3><strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong><a class="headerlink" href="#multi-camera-synced-launch-py" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">1.5.2.3.1.1. </span><strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong><a class="headerlink" href="#multi-camera-synced-launch-py" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p>增加 <code class="docutils literal notranslate"><span class="pre">launch_include</span></code> 以适配 4 台相机</p></li>
|
||||
<li><p>根据设备型号选择对应的 launch 文件,如 330 系列选择 gemini_330_series.launch.py</p></li>
|
||||
@@ -128,7 +424,7 @@
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="id3">
|
||||
<h3><strong>参数文件修改</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">1.5.2.3.1.2. </span><strong>参数文件修改</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
|
||||
<p>修改 <code class="docutils literal notranslate"><span class="pre">config</span></code> 目录下的以下两个配置文件:</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">camera_params.yaml</span></code></p></li>
|
||||
@@ -142,7 +438,7 @@
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="id4">
|
||||
<h3><strong>启动与验证</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">1.5.2.3.1.3. </span><strong>启动与验证</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p>启动多机同步 launch: <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code></p></li>
|
||||
<li><p>打开新终端运行同步验证节点: <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">image_sync_example_node</span></code>
|
||||
@@ -151,7 +447,7 @@
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="launch">
|
||||
<h3><strong>参考 launch 文件</strong><a class="headerlink" href="#launch" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">1.5.2.3.1.4. </span><strong>参考 launch 文件</strong><a class="headerlink" href="#launch" title="Link to this heading"></a></h3>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
|
||||
@@ -247,15 +543,15 @@
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="id5">
|
||||
<h2>必要系统配置<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.2.3.2. </span>必要系统配置<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
|
||||
<section id="usb">
|
||||
<h3><strong>提升 USB 缓冲区容量</strong><a class="headerlink" href="#usb" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">1.5.2.3.2.1. </span><strong>提升 USB 缓冲区容量</strong><a class="headerlink" href="#usb" title="Link to this heading"></a></h3>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">echo</span> <span class="mi">512</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="fast-dds">
|
||||
<h3><strong>配置 Fast DDS</strong><a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">1.5.2.3.2.2. </span><strong>配置 Fast DDS</strong><a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h3>
|
||||
<p>优化 ROS2 节点间通信延迟,可以有效减少图像传输延迟,<a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">配置过程见此章节</span></a>。</p>
|
||||
</section>
|
||||
</section>
|
||||
@@ -264,13 +560,16 @@
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
|
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<a href="multi_camera_synced.html" class="btn btn-neutral float-left" title="1.5.2.2. 多相机同步说明" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
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<a href="gmsl_camera.html" class="btn btn-neutral float-right" title="1.5.2.4. GMSL 相机" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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||||
</div>
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||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
|
||||
<span class="lastupdated">最后更新于 2026年01月04日 01:26:43.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+309
-10
@@ -6,7 +6,7 @@
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>高效的进程内通信: — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<title>1.5.1.2. 高效的进程内通信: — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
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||||
<link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
|
||||
@@ -21,7 +21,9 @@
|
||||
<script src="../../../../_static/translations.js?v=beaddf03"></script>
|
||||
<script src="../../../../_static/js/theme.js"></script>
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<link rel="index" title="索引" href="../../../../genindex.html" />
|
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<link rel="search" title="搜索" href="../../../../search.html" />
|
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<link rel="search" title="搜索" href="../../../../search.html" />
|
||||
<link rel="next" title="1.5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化" href="fastdds_tuning.html" />
|
||||
<link rel="prev" title="1.5.1.1. 使用Orbbec ROS包降低CPU使用率" href="lower_cpu_usage.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
@@ -43,8 +45,300 @@
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||
<ul class="current">
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">1. Camera Devices</a><ul class="current">
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.1.3. 支持的平台</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK 概述</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.1.2.3. SDK 概念概述</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">1.2. 安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">1.2.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">1.2.2. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">1.2.3. 从源码构建</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">1.2.4. 注册脚本(必需)</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id2">1.2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">1.3. 快速开始</a><ul>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">1.3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">1.3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">1.3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">1.3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">1.3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">1.4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">1.4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id9">1.4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">1.4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="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="lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">1.5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id2">1.5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id3">1.5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
<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>
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||||
<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>
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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<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>
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<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>
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<p>如果我们的ROS2封装器节点与订阅者节点加载在同一进程中,它支持零拷贝通信。这可以减少图像/点云话题的拷贝时间,特别是在大帧分辨率和高FPS的情况下。</p>
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<p>您需要启动一个组件容器,并将我们的节点作为组件与其他组件节点一起启动。有关"在单个进程中组合多个节点"的更多详细信息,请参见 <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">此处</a>。</p>
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<p>有关高效进程内通信的更多详细信息,请参见 <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">此处</a>。</p>
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<p><strong>手动将多个组件加载到同一进程中</strong></p>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a><ul>
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|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul class="current">
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="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="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="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="efficient_intra_process_communication.html#id2">1.5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">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="#id1">1.5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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>
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</li>
|
||||
</ul>
|
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</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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||||
</ul>
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|
||||
</ul>
|
||||
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<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>
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||||
<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>
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||||
<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>
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<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>
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<li class="breadcrumb-item active">针对Orbbec相机与ROS2的Fast DDS优化</li>
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<li class="breadcrumb-item active"><span class="section-number">1.5.1.3. </span>针对Orbbec相机与ROS2的Fast DDS优化</li>
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<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="orbbecros2fast-dds">
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<h1>针对Orbbec相机与ROS2的Fast DDS优化<a class="headerlink" href="#orbbecros2fast-dds" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.1.3. </span>针对Orbbec相机与ROS2的Fast DDS优化<a class="headerlink" href="#orbbecros2fast-dds" title="Link to this heading"></a></h1>
|
||||
<p>使用默认配置时,Fast DDS表现出次优的传输效率,导致在ROS2中使用Orbbec相机时图像传输延迟显著。本文档提供了优化Fast DDS以提高图像传输效率的指导。</p>
|
||||
<section id="id1">
|
||||
<h2>调整系统参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1.3.1. </span>调整系统参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<p><strong>IP分片时间</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>路径</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_time</span></code>(默认值:30秒)</p></li>
|
||||
@@ -160,7 +456,7 @@ net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
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||||
<p>有关详细指导,请参考 <a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">ROS 2 DDS调优文档</a>。</p>
|
||||
</section>
|
||||
<section id="fast-dds">
|
||||
<h2>Fast DDS配置<a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1.3.2. </span>Fast DDS配置<a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h2>
|
||||
<p>以下是针对Orbbec相机与ROS2使用而优化的Fast DDS配置文件示例。此配置通过调整缓冲区大小和传输设置来增强整体数据传输。</p>
|
||||
<p><strong>配置文件:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
|
||||
<p>将此文件放在 <code class="docutils literal notranslate"><span class="pre">$HOME</span></code> 目录中。</p>
|
||||
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<title>使用Orbbec ROS包降低CPU使用率 — OrbbecSDK V2 ROS2 封装 文档</title>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.1.3. 支持的平台</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.1.2.1. 术语</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.1.2.2. Orbbec SDK v2 架构概述</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#id3">1.2.4.2. 从源码构建</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-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>
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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>
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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-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">1.3.2.3. 相机控制</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">1.3.2.4. 设备信息和固件升级</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">1.4. 应用指南</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id3">1.4.1.2. 传感器控制</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">1.4.1.2.1. 彩色流</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">1.4.1.2.2. 深度流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">1.4.1.3. 设备、同步与高级功能</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id10">1.4.1.3.3. 设备特定</a></li>
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|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">1.4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">1.4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">1.4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">1.4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">1.4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id5">1.4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id9">1.4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id10">1.4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id11">1.4.2.6. 数据捕获与校准管理</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#id3">1.4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">1.5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#id2">1.5.1. 性能与优化</a><ul class="current">
|
||||
<li class="toctree-l4 current"><a class="current reference internal" href="#">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="#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="#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="#id2">1.5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id3">1.5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id4">1.5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id5">1.5.1.1.6. 进一步优化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="efficient_intra_process_communication.html#id2">1.5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="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="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="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="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="../advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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="../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="../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="../advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../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="../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>
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<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>
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||||
</li>
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||||
</ul>
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||||
</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>
|
||||
</ul>
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||||
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||||
</ul>
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||||
</li>
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||||
<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>
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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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<div role="navigation" aria-label="页面导航">
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<li class="breadcrumb-item active">使用Orbbec ROS包降低CPU使用率</li>
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<li class="breadcrumb-item"><a href="../../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
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<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">1.5. </span>高级指南</a></li>
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<li class="breadcrumb-item active"><span class="section-number">1.5.1.1. </span>使用Orbbec ROS包降低CPU使用率</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.md.txt" rel="nofollow"> 查看页面源码</a>
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@@ -106,11 +402,11 @@
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<div itemprop="articleBody">
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<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="orbbec-roscpu">
|
||||
<h1>使用Orbbec ROS包降低CPU使用率<a class="headerlink" href="#orbbec-roscpu" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">1.5.1.1. </span>使用Orbbec ROS包降低CPU使用率<a class="headerlink" href="#orbbec-roscpu" title="Link to this heading"></a></h1>
|
||||
<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">示例</a> 中找到使用示例代码。</p>
|
||||
<p>本文档概述了在使用 <strong>Gemini 330系列相机</strong> 的 <strong>OrbbecSDK_ROS2 v2</strong> 环境中最小化CPU使用率的策略。固件版本必须 <strong>不低于1.4.10</strong>,且 <code class="docutils literal notranslate"><span class="pre">device</span></code> 应设置为 <strong>Default</strong>。</p>
|
||||
<section id="cpu">
|
||||
<h2>降低CPU使用率的推荐设置<a class="headerlink" href="#cpu" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1.1.1. </span>降低CPU使用率的推荐设置<a class="headerlink" href="#cpu" title="Link to this heading"></a></h2>
|
||||
<p>要在OrbbecSDK_ROS2中实现最低的CPU使用率,建议配置以下参数。</p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
@@ -139,14 +435,14 @@
|
||||
</tbody>
|
||||
</table></section>
|
||||
<section id="id1">
|
||||
<h2>用于测试的启动文件<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1.1.2. </span>用于测试的启动文件<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id2">
|
||||
<h2>测试环境<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1.1.3. </span>测试环境<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p><strong>硬件配置</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>CPU</strong>: Intel i7-8700 @ 3.20GHz</p></li>
|
||||
@@ -167,7 +463,7 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2>测试设置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1.1.4. </span>测试设置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p><strong>数据流设置:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>深度/左IR/右IR: 848×480 @ 30fps</p></li>
|
||||
@@ -176,7 +472,7 @@
|
||||
<p>注意:以下CPU使用率数据重点关注 <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code>、<code class="docutils literal notranslate"><span class="pre">color_format</span></code> 和各种滤波器组合。</p>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2>测试结果<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1.1.5. </span>测试结果<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> 对比(RGB格式)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
@@ -270,7 +566,7 @@
|
||||
</table><p>根据测试结果,仅使用 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> 相比无滤波器基准,对 <code class="docutils literal notranslate"><span class="pre">libuvc</span></code>(+3.5%)和 <code class="docutils literal notranslate"><span class="pre">v4l2</span></code>(-3.4%)的CPU使用率变化可以忽略不计,因为此滤波器在相机硬件内部运行。相比之下,其他滤波器在主机系统上执行。将 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 添加到硬件滤波器会导致CPU使用率适度增加,而应用基于软件的 <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code>——无论是单独使用还是与 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 结合——都会显著增加CPU负载。为保持较低的CPU使用率,建议避免使用基于软件的滤波器,仅依赖 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>。</p>
|
||||
</section>
|
||||
<section id="id5">
|
||||
<h2>进一步优化<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">1.5.1.1.6. </span>进一步优化<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
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||||
<tr>
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||||
@@ -302,13 +598,16 @@
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<span class="lastupdated">最后更新于 2026年01月04日 01:26:43.
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