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OrbbecSDK V2 ROS2 封装
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本(必需)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">4. 应用指南</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. 启动参数</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ldp">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-l3"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id11">4.1.3.4. 视差</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id12">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-l3"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id17">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-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">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-l2"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="services.html#id6">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-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">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-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
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<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 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-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 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-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
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||||
</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
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||||
</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
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</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="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
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<a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
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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"><span class="section-number">4. </span>应用指南</li>
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<a href="../../_sources/source/4_application_guide/application_guide.rst.txt" rel="nofollow"> 查看页面源码</a>
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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><span class="section-number">4. </span>应用指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>本章介绍使用SDK进行应用开发,包括启动参数配置、ROS2服务和话题使用。</p>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="launch_parameters.html">4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
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|
||||
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|
||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
|
||||
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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_data.html">6.3. 性能基准测试数据</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
|
||||
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||||
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||||
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||||
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||||
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<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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||||
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<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
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OrbbecSDK V2 ROS2 封装
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本(必需)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
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<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. 应用指南</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. 启动参数</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ldp">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-l3"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id11">4.1.3.4. 视差</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id17">4.1.4.5. 其他</a></li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id6">4.2.1.4. 所有数据流</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
|
||||
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|
||||
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|
||||
</ul>
|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
|
||||
</ul>
|
||||
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|
||||
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|
||||
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||||
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||||
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<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
|
||||
</ul>
|
||||
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|
||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
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||||
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<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件?</a></li>
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<h1><span class="section-number">4.7. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<p>您可以使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 通过 <code class="docutils literal notranslate"><span class="pre">jpeg</span></code> 压缩图像。以下是使用示例:</p>
|
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<p>要访问压缩的彩色图像,可以使用以下命令:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
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<p>此命令将允许您从指定话题接收压缩的彩色图像。</p>
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本(必需)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. 应用指南</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id11">4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id17">4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id6">4.2.1.4. 所有数据流</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
|
||||
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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="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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||||
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||||
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">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#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
|
||||
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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/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
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<h1><span class="section-number">4.4. </span>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="Link to this heading"></a></h1>
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<li><p>相机光学坐标系:(X: 向右,Y: 向下,Z: 向前)</p></li>
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<li><p>我们封装器话题中发布的所有数据都是直接从相机传感器获取的光学数据。</p></li>
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<li><p>静态和动态TF话题发布光学坐标系和ROS坐标系,使用户能够在两个坐标系之间转换。</p></li>
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本(必需)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. 应用指南</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id11">4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id17">4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id6">4.2.1.4. 所有数据流</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.8. 在ROS 2中启用和可视化点云</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id1">4.8.1. 启用深度点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id2">4.8.1.1. 启用深度点云的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id3">4.8.2. 启用彩色点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id4">4.8.2.1. 启用彩色点云的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
|
||||
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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-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
|
||||
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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="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></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><span class="section-number">4.8. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
|
||||
<p>本节演示如何从相机节点启用点云数据输出并使用RViz2进行可视化。</p>
|
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<section id="id1">
|
||||
<h2><span class="section-number">4.8.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<section id="id2">
|
||||
<h3><span class="section-number">4.8.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
|
||||
<p>要激活深度信息的点云数据流,使用以下命令:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="rviz2">
|
||||
<h3><span class="section-number">4.8.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
|
||||
<p>运行上述命令后,执行以下步骤可视化深度点云:</p>
|
||||
<ol class="simple">
|
||||
<li><p>打开RViz2。</p></li>
|
||||
<li><p>添加 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> 显示。</p></li>
|
||||
<li><p>选择 <code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code> 话题进行可视化。</p></li>
|
||||
<li><p>将固定帧设置为 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> 以正确对齐数据。</p></li>
|
||||
</ol>
|
||||
<ul class="simple">
|
||||
<li><p><strong>可视化示例</strong></p></li>
|
||||
</ul>
|
||||
<p>深度点云在RViz2中可能如下所示:</p>
|
||||
<p><img alt="深度点云可视化" src="../../_images/image5.jpg" /></p>
|
||||
</section>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">4.8.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<section id="id4">
|
||||
<h3><span class="section-number">4.8.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
|
||||
<p>要启用彩色点云功能,输入以下命令:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id5">
|
||||
<h3><span class="section-number">4.8.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
|
||||
<p>要可视化彩色点云数据:</p>
|
||||
<ol class="simple">
|
||||
<li><p>执行命令后启动RViz2。</p></li>
|
||||
<li><p>添加 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> 显示面板。</p></li>
|
||||
<li><p>从列表中选择 <code class="docutils literal notranslate"><span class="pre">/camera/depth_registered/points</span></code> 话题。</p></li>
|
||||
<li><p>确保固定帧设置为 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code>。</p></li>
|
||||
</ol>
|
||||
<ul class="simple">
|
||||
<li><p><strong>可视化示例</strong></p></li>
|
||||
</ul>
|
||||
<p>RViz2中彩色点云的结果应该如下所示:</p>
|
||||
<p><img alt="彩色点云可视化" src="../../_images/image6.jpg" /></p>
|
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本(必需)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. 应用指南</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id11">4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id17">4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.2. 所有可用的相机控制服务</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id2">4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id3">4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id4">4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id5">4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id6">4.2.1.4. 所有数据流</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id7">4.2.2. 传感器与发射器控制</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id8">4.2.3. 设备信息与管理</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id11">4.2.6. 数据捕获与校准管理</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
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||||
</nav>
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|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
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<div class="wy-nav-content">
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<div class="rst-content">
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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"><a href="application_guide.html"><span class="section-number">4. </span>应用指南</a></li>
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<li class="breadcrumb-item active"><span class="section-number">4.2. </span>所有可用的相机控制服务</li>
|
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/source/4_application_guide/services.md.txt" rel="nofollow"> 查看页面源码</a>
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<hr/>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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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><span class="section-number">4.2. </span>所有可用的相机控制服务<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p><strong>注意:</strong> 与特定数据流相关的服务(例如 <code class="docutils literal notranslate"><span class="pre">/camera/set_color_*</span></code>)仅在启动文件中启用该数据流时可用(例如 <code class="docutils literal notranslate"><span class="pre">enable_color:=true</span></code>)。</p>
|
||||
</div></blockquote>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">4.2.1. </span>数据流控制<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<section id="id3">
|
||||
<h3><span class="section-number">4.2.1.1. </span>彩色流<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_color</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_color<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_color_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_color_gain</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_color_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_color_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_auto_exposure</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_color_gain</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 1}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_mirror</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_color_flip</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_color_rotation</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_mirror<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_flip<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_rotation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 180}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_ae_roi</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># data_param: [左, 右, 上, 下]</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_ae_roi<span class="w"> </span>orbbec_camera_msgs/srv/SetArrays<span class="w"> </span><span class="s1">'{data_param: [0,1279,0,719]}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h3><span class="section-number">4.2.1.2. </span>深度流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_depth</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_depth<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_depth_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_depth_gain</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_depth_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_depth_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_auto_exposure</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_gain</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 3000}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_mirror</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_flip</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_rotation</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_mirror<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_flip<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_rotation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 180}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_ae_roi</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># data_param: [左, 右, 上, 下]</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_ae_roi<span class="w"> </span>orbbec_camera_msgs/srv/SetArrays<span class="w"> </span><span class="s1">'{data_param: [0,847,0,479]}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id5">
|
||||
<h3><span class="section-number">4.2.1.3. </span>红外流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_ir</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_ir<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_ir_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_ir_gain</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ir_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ir_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_auto_exposure</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_ir_gain</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 3000}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/switch_ir</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/switch_ir<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">'{data: left}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id6">
|
||||
<h3><span class="section-number">4.2.1.4. </span>所有数据流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_streams_enable</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_streams_enable</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_streams_enable<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_streams_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: false}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
<section id="id7">
|
||||
<h2><span class="section-number">4.2.2. </span>传感器与发射器控制<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_auto_white_balance</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_auto_white_balance</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_auto_white_balance<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_auto_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_white_balance</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_white_balance</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 2800}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_laser_enable</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_laser_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ldp_enable</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_ldp_status</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ldp_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ldp_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_fan_work_mode</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_fan_work_mode<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 0}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_floor_enable</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_floor_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id8">
|
||||
<h2><span class="section-number">4.2.3. </span>设备信息与管理<a class="headerlink" href="#id8" title="Link to this heading"></a></h2>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_device_info</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_sdk_version</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_sdk_version<span class="w"> </span>orbbec_camera_msgs/srv/GetString
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/reboot_device</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/reboot_device<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id9">
|
||||
<h2><span class="section-number">4.2.4. </span>同步与触发<a class="headerlink" href="#id9" title="Link to this heading"></a></h2>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/send_software_trigger</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/send_software_trigger<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_reset_timestamp</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 仅在time_domain参数设置为device时可用</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_reset_timestamp<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sync_interleaverlaser</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 仅在interleave_ae_mode为'laser'且interleave_frame_enable为true时可用</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_sync_interleaverlaser<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 0}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id10">
|
||||
<h2><span class="section-number">4.2.5. </span>深度滤波器配置<a class="headerlink" href="#id10" title="Link to this heading"></a></h2>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_filter</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 设置DecimationFilter</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'</span>
|
||||
<span class="c1"># 设置SpatialAdvancedFilter</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id11">
|
||||
<h2><span class="section-number">4.2.6. </span>数据捕获与校准管理<a class="headerlink" href="#id11" title="Link to this heading"></a></h2>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_images</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/save_images<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_point_cloud</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/save_point_cloud<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<blockquote>
|
||||
<div><p><strong>注意</strong>:以下服务目前仅支持435Le模块。每个服务一次只能存储一组数据或字符串。</p>
|
||||
</div></blockquote>
|
||||
<ul>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/write_customer_data</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/read_customer_data</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/write_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">'{data: "string"}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/read_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/GetString<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_user_calib_params</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_user_calib_params</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/SetUserCalibParams<span class="w"> </span><span class="se">\</span>
|
||||
<span class="s1">'{k: [614.9613647460938, 0.0, 634.91552734375,</span>
|
||||
<span class="s1"> 0.0, 614.65771484375, 391.407470703125,</span>
|
||||
<span class="s1"> 0.0, 0.0, 1.0],</span>
|
||||
<span class="s1"> d: [-0.03131488710641861,</span>
|
||||
<span class="s1"> 0.032955970615148544,</span>
|
||||
<span class="s1"> 9.096559369936585e-05,</span>
|
||||
<span class="s1"> -0.0003368517500348389,</span>
|
||||
<span class="s1"> -0.01115430984646082,</span>
|
||||
<span class="s1"> 0.0, 0.0, 0.0],</span>
|
||||
<span class="s1"> rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,</span>
|
||||
<span class="s1"> -0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,</span>
|
||||
<span class="s1"> 0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],</span>
|
||||
<span class="s1"> translation: [-0.023897956848144532,</span>
|
||||
<span class="s1"> -9.439220279455185e-05,</span>
|
||||
<span class="s1"> -6.804073229432106e-06]}'</span>
|
||||
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/GetUserCalibParams<span class="w"> </span><span class="s1">'{}'</span>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 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="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
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||||
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||||
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|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
|
||||
</ul>
|
||||
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|
||||
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|
||||
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|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">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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<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件?</a></li>
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<h1><span class="section-number">4.6. </span>从坐标系A到坐标系B的TF变换:<a class="headerlink" href="#abtf" title="Link to this heading"></a></h1>
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<p>在Orbbec相机中,原点(0,0,0)取自camera_link位置</p>
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<p>此外,它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。</p>
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<p>Gemini335模块的RGB传感器和右红外传感器静态TF变换示例,如rviz2中所示:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
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OrbbecSDK V2 ROS2 封装
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id11">4.1.3.4. 视差</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id12">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-l3"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id17">4.1.4.5. 其他</a></li>
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||||
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">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-l2"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="services.html#id6">4.2.1.4. 所有数据流</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id4">4.3.4. 设备状态与诊断</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
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||||
</ul>
|
||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
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||||
</ul>
|
||||
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
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||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
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</nav>
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<div class="wy-nav-content">
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<div class="rst-content">
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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"><a href="application_guide.html"><span class="section-number">4. </span>应用指南</a></li>
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||||
<li class="breadcrumb-item active"><span class="section-number">4.3. </span>可用话题</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/source/4_application_guide/topics.md.txt" rel="nofollow"> 查看页面源码</a>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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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><span class="section-number">4.3. </span>可用话题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>话题按数据流和功能组织。默认情况下,所有话题都发布在 <code class="docutils literal notranslate"><span class="pre">/camera</span></code> 命名空间下,可以通过 <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> 启动参数进行更改。</p>
|
||||
<blockquote>
|
||||
<div><p><strong>注意:</strong> 特定数据流的话题(例如 <code class="docutils literal notranslate"><span class="pre">/camera/color/...</span></code>)只有在相应的启动参数(例如 <code class="docutils literal notranslate"><span class="pre">enable_color</span></code>)设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时才会发布。</p>
|
||||
</div></blockquote>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">4.3.1. </span>图像流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>这些话题提供每个启用的相机数据流的原始图像数据和相应的校准信息。对于 <code class="docutils literal notranslate"><span class="pre">color</span></code>、<code class="docutils literal notranslate"><span class="pre">depth</span></code>、<code class="docutils literal notranslate"><span class="pre">ir</span></code>、<code class="docutils literal notranslate"><span class="pre">left_ir</span></code> 和 <code class="docutils literal notranslate"><span class="pre">right_ir</span></code> 数据流,模式是一致的。</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code></p>
|
||||
<ul>
|
||||
<li><p>彩色流的原始图像数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/camera_info</span></code></p>
|
||||
<ul>
|
||||
<li><p>彩色流的相机校准数据和元数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/metadata</span></code></p>
|
||||
<ul>
|
||||
<li><p>来自彩色流固件的底层元数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/image_raw</span></code></p>
|
||||
<ul>
|
||||
<li><p>深度流的原始图像数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/camera_info</span></code></p>
|
||||
<ul>
|
||||
<li><p>深度流的相机校准数据和元数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/metadata</span></code></p>
|
||||
<ul>
|
||||
<li><p>来自深度流固件的底层元数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/image_raw</span></code></p>
|
||||
<ul>
|
||||
<li><p>红外(IR)流的原始图像数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/camera_info</span></code></p>
|
||||
<ul>
|
||||
<li><p>IR流的相机校准数据和元数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/metadata</span></code></p>
|
||||
<ul>
|
||||
<li><p>来自IR流固件的底层元数据。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">4.3.2. </span>点云话题<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code></p>
|
||||
<ul>
|
||||
<li><p>从深度流生成的点云数据。</p></li>
|
||||
<li><p><strong>条件:</strong> 仅在 <code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth_registered/points</span></code></p>
|
||||
<ul>
|
||||
<li><p>彩色点云数据,其中深度点配准到彩色图像帧。</p></li>
|
||||
<li><p><strong>条件:</strong> 仅在 <code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="imu">
|
||||
<h2><span class="section-number">4.3.3. </span>IMU话题<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
|
||||
<p>惯性测量单元(IMU)话题提供加速度计和陀螺仪数据。其行为取决于同步设置。</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/accel/sample</span></code></p>
|
||||
<ul>
|
||||
<li><p>单独的加速度计数据流。</p></li>
|
||||
<li><p><strong>条件:</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_accel</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 且 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">false</span></code> 时发布。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/gyro/sample</span></code></p>
|
||||
<ul>
|
||||
<li><p>单独的陀螺仪数据流。</p></li>
|
||||
<li><p><strong>条件:</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 且 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">false</span></code> 时发布。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/gyro_accel/sample</span></code></p>
|
||||
<ul>
|
||||
<li><p>包含加速度计和陀螺仪数据的同步数据流(单条消息)。</p></li>
|
||||
<li><p><strong>条件:</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2><span class="section-number">4.3.4. </span>设备状态与诊断<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/device_status</span></code></p>
|
||||
<ul>
|
||||
<li><p>报告相机设备的当前状态。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth_filter_status</span></code></p>
|
||||
<ul>
|
||||
<li><p>报告深度传感器后处理滤波器的状态。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/diagnostics</span></code></p>
|
||||
<ul>
|
||||
<li><p>发布相机节点的诊断信息。目前包括设备温度。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
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|
||||
|
||||
|
||||
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||||
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||||
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Reference in New Issue
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