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<li class="toctree-l2"><a class="reference internal" href="../camera_devices/1_overview/overview.html">1.1. 概述</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html">1.5. 高级指南</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/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="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#cpu">1.5.1.1.1. 降低CPU使用率的推荐设置</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id1">1.5.1.1.2. 用于测试的启动文件</a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/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="../camera_devices/5_advanced_guide/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="../camera_devices/5_advanced_guide/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="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
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||||
</ul>
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||||
</li>
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<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#id2">1.5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#id1">1.5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds">1.5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#id3">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id2">1.5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">1.5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id3">1.5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">1.5.2.3.1. 使用教程</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">1.5.2.3.2. 必要系统配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id2">1.5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id3">1.5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id4">1.5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id2">1.5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#id1">1.5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/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="../camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/7_developer_guide/developer_guide.html">1.7. 开发者指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/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="../camera_devices/7_developer_guide/migration_guide.html#id1">1.7.1.1. 引言</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/8_FAQ/FAQ.html">1.8. 常见问题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id2">1.8.1. 意外崩溃</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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 current"><a class="current reference internal" href="#">Lidar Devices</a><ul>
|
||||
@@ -111,31 +403,10 @@
|
||||
<h1>Lidar Devices<a class="headerlink" href="#lidar-devices" title="Link to this heading"></a></h1>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="lidar.html">1. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id2">1.1. 先决条件</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#deb">1.2. 安装deb依赖项</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#udev">1.3. 安装udev规则</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id3">1.4. 构建包</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id4">1.5. 启动激光雷达节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="lidar.html#id5">2. 使用方法</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id6">2.1. 运行驱动</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id9">2.4. 2.4 参数和配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="lidar.html#id10">3. 点云数据详细说明</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id11">3.1. 点云格式</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id12">3.2. 点云聚合功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="lidar.html#imu">4. IMU数据</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id15">4.1. IMU话题</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="lidar.html#id16">4.2. 使用IMU数据</a></li>
|
||||
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<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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-l3"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html">1.3.1. ROS 包快速入门</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/3_quickstarts/quickstart.html#id4">1.3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/3_quickstarts/quickstart.html#rosbag2">1.3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../camera_devices/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="../camera_devices/3_quickstarts/orbbecviewer.html#id1">1.3.2.1. 下载</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/4_application_guide/launch_parameters.html">1.4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/4_application_guide/launch_parameters.html#id17">1.4.1.4.5. 其他</a></li>
|
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</ul>
|
||||
</li>
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<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#imu">1.4.1.5. IMU</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id18">1.4.1.6. 深度滤波器</a></li>
|
||||
</ul>
|
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</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/4_application_guide/topics.html">1.4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#id2">1.4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/4_application_guide/topics.html#imu">1.4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/4_application_guide/compressed_image.html">1.4.5. 压缩图像</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html">1.5. 高级指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#id2">1.5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#cpu">1.5.1.1.1. 降低CPU使用率的推荐设置</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id1">1.5.1.1.2. 用于测试的启动文件</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id2">1.5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id3">1.5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id4">1.5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id5">1.5.1.1.6. 进一步优化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#id2">1.5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#id3">1.5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#id1">1.5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds">1.5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#id3">1.5.2. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#id2">1.5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#id3">1.5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id2">1.5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">1.5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id3">1.5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">1.5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">1.5.2.3.1. 使用教程</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">1.5.2.3.2. 必要系统配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id1">1.5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id2">1.5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id3">1.5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id4">1.5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#id4">1.5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#id1">1.5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#rviz2">1.5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#id2">1.5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id2">1.5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id3">1.5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id4">1.5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#id1">1.5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#id2">1.5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html">1.5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/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="../camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip">1.5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#ip">1.5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark.html">1.6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html">1.6.1. 介绍</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/6_benchmark/othertools.html">1.6.4. 其他工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/7_developer_guide/developer_guide.html">1.7. 开发者指南</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/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="../camera_devices/7_developer_guide/migration_guide.html#id1">1.7.1.1. 引言</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/8_FAQ/FAQ.html">1.8. 常见问题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id2">1.8.1. 意外崩溃</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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="../camera_devices/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 current"><a class="reference internal" href="index.html">Lidar Devices</a><ul class="current">
|
||||
@@ -335,7 +627,7 @@ ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
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