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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-l3"><a class="reference internal" href="../../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
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<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>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
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<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>
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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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
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<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>
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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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</ul>
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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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</ul>
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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>
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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#id7">3.1.3.3. 调用服务</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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</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"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. 应用指南</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
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||||
<li class="toctree-l2"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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 current"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul class="current">
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||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. 多相机</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="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="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="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 current"><a class="current reference internal" href="#">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#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="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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>
|
||||
|
||||
<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="../advanced_guide.html"><span class="section-number">5. </span>高级指南</a></li>
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<li class="breadcrumb-item active"><span class="section-number">5.2.4. </span>GMSL 相机</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../../_sources/source/5_advanced_guide/multi_camera/gmsl_camera.md.txt" rel="nofollow"> 查看页面源码</a>
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</li>
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</ul>
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<hr/>
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</div>
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||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="gmsl">
|
||||
<h1><span class="section-number">5.2.4. </span>GMSL 相机<a class="headerlink" href="#gmsl" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用 GMSL 相机。目前仅支持 Gemini 335Lg GMSL 设备,其他 GMSL 设备将在不久的将来得到支持。</p>
|
||||
</div></blockquote>
|
||||
<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
|
||||
<section id="id1">
|
||||
<h2><span class="section-number">5.2.4.1. </span>单个 GMSL 相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<p>GMSL 相机在 OrbbecSDK_ROS2 中的使用与通过 USB 的 Gemini 330 系列相机相同。</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_gmsl.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">5.2.4.2. </span>多个 GMSL 相机<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>要获取 GMSL 相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>,插入相机并在终端中运行以下命令:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>例如,获得的 gmsl 相机 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>:<code class="docutils literal notranslate"><span class="pre">gmsl2-1</span></code></p>
|
||||
<p>转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py">multi_gmsl_camera.launch.py</a> 文件并更改 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>。</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>multi_gmsl_camera.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<blockquote>
|
||||
<div><p>注意:默认情况下,multi_gmsl_camera.launch.py 仅启动 color 和 left_ir。如果您想启动其他传感器,请转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml">camera_secondary_params.yaml</a> 进行修改。</p>
|
||||
</div></blockquote>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">5.2.4.3. </span>多个 GMSL 相机同步<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>首先,请查看如何使用 <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>。</p>
|
||||
<p>此外,GMSL 多相机同步不需要 Multi-Camera Sync Hub Pro,因此无需设置 <code class="docutils literal notranslate"><span class="pre">primary</span></code> 模式。每个 GMSL 相机都是 <code class="docutils literal notranslate"><span class="pre">secondary</span></code>。</p>
|
||||
<p><strong>额外的参数设置</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code>:设置硬件 soc 触发源帧率。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code>:启用硬件 soc 触发。</p></li>
|
||||
</ul>
|
||||
<p><strong>运行启动文件</strong></p>
|
||||
<p>请参考 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py">multi_gmsl_camera_synced.launch.py</a> 中的配置。</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>multi_gmsl_camera_synced.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<blockquote>
|
||||
<div><p>注意:默认情况下,multi_gmsl_camera_synced.launch.py 仅启动 color 和 left_ir。如果您想启动其他传感器,请转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml">camera_secondary_params.yaml</a> 和 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml">camera_params.yaml</a> 进行修改。</p>
|
||||
</div></blockquote>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2><span class="section-number">5.2.4.4. </span>GMSL 相机的使用限制<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<p>GMSL 相机与各种反序列化器芯片(如 MAX9296 和 MAX92716)接口。Orbbec GMSL 相机支持多个流,包括深度、彩色、IR 和 IMU 数据,但存在某些使用限制:</p>
|
||||
<ul class="simple">
|
||||
<li><p>GMSL 仅支持 V4L2 和 YUYV 格式;不支持 MJPG 格式。RGB 输出源自 YUYV 格式转换。</p></li>
|
||||
<li><p>Gemini-335Lg 的元数据通过单独的节点提供,而其他型号的元数据嵌入在视频帧中,这对用户保持透明。</p></li>
|
||||
<li><p>当使用 Max96712 作为反序列化器芯片时,由于 Max96712 芯片的特性,在 secondary_synced 模式下必须提供多机同步触发信号。否则,在切换数据流时会发生数据流中断。</p></li>
|
||||
<li><p>连接在同一个 MAX9296、MAX96712 LinkA/B 或 MAX96712 LinkC/D 上的两个相机有以下限制:</p>
|
||||
<ul>
|
||||
<li><p>在驱动程序版本 v12.02 之前,存在一个限制,即一个相机的 RGB 和另一个相机的右 IR 不能同时流式传输。在驱动程序版本 v12.02 之后,限制修改为一个相机的 RGB 和另一个相机的左 IR 不能同时流式传输。</p></li>
|
||||
<li><p>在驱动程序版本 v12.02 之前,存在一个限制,即一个相机的 DEPTH 和另一个相机的左 IR 不能同时流式传输。在驱动程序版本 v12.02 之后,限制修改为一个相机的 DEPTH 和另一个相机的右 IR 不能同时流式传输。</p></li>
|
||||
<li><p>两个相机的活动流的组合最大数量限制为四个(满足上述两个条件即可确保合规)。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
<p>有关更多已知限制,请参考 <a class="reference external" href="https://github.com/orbbec/MIPI_Camera_Platform_Driver/blob/main/doc/Instructions%20for%20Using%20GMSL%20Camera.md">Orbbec GMSL 相机的使用限制</a></p>
|
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<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>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
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<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>
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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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
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<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>
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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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</ul>
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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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</ul>
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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>
|
||||
<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#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"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. 应用指南</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#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="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="multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="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="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="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="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="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="gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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>
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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">5.2.1. </span>多相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<ul class="simple">
|
||||
<li><p>要获取相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>,插入相机并在终端中运行以下命令:</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p>将 <code class="docutils literal notranslate"><span class="pre">device_num</span></code> 参数设置为您拥有的相机数量。</p></li>
|
||||
<li><p>转到 <code class="docutils literal notranslate"><span class="pre">OrbbecSDK_ROS2/launch/multi_xxx.launch.py</span></code> 文件并更改 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>。</p></li>
|
||||
<li><p>不要忘记将 <code class="docutils literal notranslate"><span class="pre">include</span></code> 标签放在 <code class="docutils literal notranslate"><span class="pre">group</span></code> 标签内。
|
||||
否则,不同相机的参数值可能会被污染。</p></li>
|
||||
</ul>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">DeclareLaunchArgument</span><span class="p">,</span> <span class="n">IncludeLaunchDescription</span><span class="p">,</span> <span class="n">GroupAction</span><span class="p">,</span> <span class="n">ExecuteProcess</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch.launch_description_sources</span><span class="w"> </span><span class="kn">import</span> <span class="n">PythonLaunchDescriptionSource</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
|
||||
<span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
|
||||
|
||||
|
||||
<span class="k">def</span><span class="w"> </span><span class="nf">generate_launch_description</span><span class="p">():</span>
|
||||
<span class="c1"># Include launch files</span>
|
||||
<span class="n">package_dir</span> <span class="o">=</span> <span class="n">get_package_share_directory</span><span class="p">(</span><span class="s1">'orbbec_camera'</span><span class="p">)</span>
|
||||
<span class="n">launch_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s1">'launch'</span><span class="p">)</span>
|
||||
<span class="n">launch1_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
|
||||
<span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
|
||||
<span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s1">'gemini2L.launch.py'</span><span class="p">)</span>
|
||||
<span class="p">),</span>
|
||||
<span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
|
||||
<span class="s1">'camera_name'</span><span class="p">:</span> <span class="s1">'camera_01'</span><span class="p">,</span>
|
||||
<span class="s1">'usb_port'</span><span class="p">:</span> <span class="s1">'6-2.4.4.2'</span><span class="p">,</span> <span class="c1"># replace your usb port here</span>
|
||||
<span class="s1">'device_num'</span><span class="p">:</span> <span class="s1">'2'</span>
|
||||
<span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
|
||||
<span class="p">)</span>
|
||||
|
||||
<span class="n">launch2_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
|
||||
<span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
|
||||
<span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s1">'gemini2L.launch.py'</span><span class="p">)</span>
|
||||
<span class="p">),</span>
|
||||
<span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
|
||||
<span class="s1">'camera_name'</span><span class="p">:</span> <span class="s1">'camera_02'</span><span class="p">,</span>
|
||||
<span class="s1">'usb_port'</span><span class="p">:</span> <span class="s1">'6-2.4.1'</span><span class="p">,</span> <span class="c1"># replace your usb port here</span>
|
||||
<span class="s1">'device_num'</span><span class="p">:</span> <span class="s1">'2'</span>
|
||||
<span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
|
||||
<span class="p">)</span>
|
||||
|
||||
<span class="c1"># If you need more cameras, just add more launch_include here, and change the usb_port and device_num</span>
|
||||
|
||||
<span class="c1"># Launch description</span>
|
||||
<span class="n">ld</span> <span class="o">=</span> <span class="n">LaunchDescription</span><span class="p">([</span>
|
||||
<span class="n">GroupAction</span><span class="p">([</span><span class="n">launch1_include</span><span class="p">]),</span>
|
||||
<span class="n">GroupAction</span><span class="p">([</span><span class="n">launch2_include</span><span class="p">]),</span>
|
||||
<span class="p">])</span>
|
||||
|
||||
<span class="k">return</span> <span class="n">ld</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p>要启动相机,运行以下命令:</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">5.2.1.1. </span>多相机无数据流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p><strong>电源供应不足</strong>:</p>
|
||||
<ul class="simple">
|
||||
<li><p>确保每个相机连接到单独的集线器。</p></li>
|
||||
<li><p>使用带电源的集线器为每个相机提供足够的电力。</p></li>
|
||||
</ul>
|
||||
<p><strong>高分辨率</strong>:</p>
|
||||
<ul class="simple">
|
||||
<li><p>尝试降低分辨率以解决数据流问题。</p></li>
|
||||
</ul>
|
||||
<p><strong>增加 usbfs_memory_mb 值</strong>:</p>
|
||||
<ul class="simple">
|
||||
<li><p>将 <code class="docutils literal notranslate"><span class="pre">usbfs_memory_mb</span></code> 值增加到 128MB(这是一个参考值,可以根据系统需求进行调整)
|
||||
通过运行以下命令:</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="m">128</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/sys/module/usbcore/parameters/usbfs_memory_mb
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p>要使此更改永久生效,请查看<a class="reference external" href="https://github.com/OpenKinect/libfreenect2/issues/807">此链接</a>。</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">5.2.1.2. </span>多相机图像话题帧率过低<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>请参考 <a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">Fast DDS 配置</span></a> 文件。</p>
|
||||
</section>
|
||||
</section>
|
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</div>
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2025年10月22日 03:11:00.
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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>
|
||||
<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>
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||||
<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"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. 应用指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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 current"><a class="current reference internal" href="#">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#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="#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="#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="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="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="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="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="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="gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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>
|
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||||
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||||
</ul>
|
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../../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>
|
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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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<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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<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">5.2.2. </span>多相机同步说明<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本文档的目的是说明如何在 OrbbecSDK_ROS2 中使用多相机同步</p>
|
||||
</div></blockquote>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">5.2.2.1. </span>设置说明<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>请阅读多相机同步设置指南:<a class="reference external" href="https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/">多相机同步设置</a></p></li>
|
||||
<li><p>确保相机正确连接到多相机同步器。</p></li>
|
||||
</ul>
|
||||
<p><img alt="深度点云可视化" src="../../../_images/multi_camera_synced1.png" /></p>
|
||||
</section>
|
||||
<section id="orbbecsdk-ros2">
|
||||
<h2><span class="section-number">5.2.2.2. </span>使用 OrbbecSDK_ROS2 检查相机端口<a class="headerlink" href="#orbbecsdk-ros2" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">5.2.2.3. </span>OrbbecSDK_ROS2 多相机同步配置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>打开 multi_camera_synced.launch.py,并按照下面所示配置相机设置:</p>
|
||||
<p><img alt="深度点云可视化" src="../../../_images/multi_camera_synced2.png" /></p>
|
||||
<ol class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series.launch.py</span></code> 是用于启动相机的启动文件。</p></li>
|
||||
<li><p>将 <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">G330_0</span></code>。例如,发布的彩色图像话题将是 <code class="docutils literal notranslate"><span class="pre">/G330_0/color/image_raw</span></code>。</p></li>
|
||||
<li><p>将 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">2-2</span></code>,表示正在使用端口 <code class="docutils literal notranslate"><span class="pre">2-2</span></code> 上的相机设备。此值可以在 <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_devices_node</span></code> 命令的输出中找到。</p></li>
|
||||
<li><p>将 <code class="docutils literal notranslate"><span class="pre">device_num</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">2</span></code>,表示将使用两个相机。</p></li>
|
||||
<li><p>将 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">primary</span></code>,表示 <code class="docutils literal notranslate"><span class="pre">2-7</span></code> 相机设备处于主模式。多相机同步模式选项可以在下图中找到。</p></li>
|
||||
<li><p>来自 <code class="docutils literal notranslate"><span class="pre">config_file_path</span></code> 的参数可以覆盖在 <code class="docutils literal notranslate"><span class="pre">gemini_330_series.launch.py</span></code> 中设置的参数(可选)。</p></li>
|
||||
<li><p>对于从属相机,将 <code class="docutils literal notranslate"><span class="pre">trigger_out_enabled</span></code> 设置为 false。</p></li>
|
||||
</ol>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th><strong>模式名称</strong></th>
|
||||
<th><strong>设置效果说明</strong></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>free_run</td>
|
||||
<td>- 支持不同的帧率设置<br />- 8 针同步接口不支持外部输出同步相关信号</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>standalone(默认)</td>
|
||||
<td>● 默认与 Primary 相同<br />● 内置 RGBD 帧同步<br />● 8 针同步接口默认不向外部输出信号</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>primary</td>
|
||||
<td>● 设置为主相机<br />● 8 针同步接口向外部设备输出信号</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>secondary</td>
|
||||
<td>● 设置为从属(被动同步;当外部有硬件连续触发信号输入且连续触发信号与当前设置的帧率匹配时,根据外部触发信号采集图像;当没有外部触发信号时,停止流)<br />● 8 针同步接口向外部设备输出信号</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>secondary_synced</td>
|
||||
<td>● 设置为从属同步(被动同步;当外部有硬件连续触发信号输入且连续触发信号与当前设置的帧率匹配时,根据外部触发信号采集图像;当没有外部触发信号时,根据设置的帧率的内部触发信号采集图像)<br />● 8 针同步接口向外部设备输出信号</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>hardware_triggering</td>
|
||||
<td>● 设置为硬件触发(被动触发;当外部有硬件触发信号输入且触发信号时间间隔不小于当前上限时,根据外部触发信号采集图像;当没有外部触发信号时,不采集图像)<br />● 8 针同步接口向外部设备输出信号</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>software_triggering</td>
|
||||
<td>● 设置为软件触发(被动触发;当主机有触发命令输入且触发命令时间间隔不小于当前上限时,根据触发命令采集图像;当没有触发命令时,不采集图像)<br />● 8 针同步接口向外部设备输出信号</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><ul class="simple">
|
||||
<li><p>主相机应该最后启动。</p></li>
|
||||
<li><p>理想情况下,启动每个相机之间应该有 2 秒的延迟。</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2><span class="section-number">5.2.2.4. </span>运行以下命令启动多相机同步<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera_synced.launch.py
|
||||
</pre></div>
|
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</div>
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<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"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. 应用指南</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul class="current">
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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 current"><a class="current reference internal" href="#">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#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="gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../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="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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>
|
||||
|
||||
<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" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="页面导航">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>高级指南</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">5.2.3. </span>多相机同步验证工具</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
|
||||
<h1><span class="section-number">5.2.3. </span>多相机同步验证工具<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本文将介绍如何验证多相机同步的同步精度。</p>
|
||||
<p>首先,请查看如何使用 <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>。</p>
|
||||
</div></blockquote>
|
||||
<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">5.2.3.1. </span>目录结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-plaintext notranslate"><div class="highlight"><pre><span></span>.
|
||||
├── multicamera_sync/
|
||||
│ ├── output/
|
||||
│ ├──20250218102900/
|
||||
│ ├──DevicesInfo.txt
|
||||
│ ├──StreamProfileInfo.txt
|
||||
│ ├── Python/
|
||||
│ ├──Config.ini
|
||||
├── gemini_330_series_synced_verify.launch.py
|
||||
├── multi_camera_synced_verify.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>multicamera_sync</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_synced_verify.launch.py</span></code>:单相机运行启动文件,为 multi_camera_synced_verify.launch.py 提供相机运行节点。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_synced_verify.launch.py</span></code>:多相机同步 + save_rgbir 工具的启动文件。</p></li>
|
||||
</ul>
|
||||
<p><strong>output</strong></p>
|
||||
<blockquote>
|
||||
<div><p><code class="docutils literal notranslate"><span class="pre">ouput</span></code> 文件夹是相机图片输出的文件夹</p>
|
||||
</div></blockquote>
|
||||
<p>在提供的输出示例中</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">20250218102900</span></code>:表示在 2025 年 2 月 18 日 10:29:00 收集的相机图像信息。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">TotalModeFrames</span></code>:相机图像信息存储目录。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">results-2025-02-25_163648</span></code>:分析和匹配 TotalModeFrames 图像信息后的结果。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">DevicesInfo.txt</span></code>:相机设备基本信息(需要修改)。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">StreamProfileInfo.txt</span></code>:相机视频流信息(无需修改)。</p></li>
|
||||
</ul>
|
||||
<p><strong>Python</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">Config.ini</span></code>:Python 分析脚本的配置文件(需要修改)。</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">5.2.3.2. </span>运行准备<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p><strong>save_rgbir 节点</strong></p>
|
||||
<p>编辑 multi_camera_synced_verify.launch.py 并填写激活的相机设备,我们可以看到 save_rgbir 在最后启动。</p>
|
||||
<blockquote>
|
||||
<div><p>重要</p>
|
||||
<p>如果您使用 ROS 2 Foxy,需要先启动 save_rgbir 节点。</p>
|
||||
</div></blockquote>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Launch description</span>
|
||||
<span class="n">ld</span> <span class="o">=</span> <span class="n">LaunchDescription</span><span class="p">(</span>
|
||||
<span class="p">[</span>
|
||||
<span class="n">shared_orbbec_container</span><span class="p">,</span>
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch2_include</span><span class="p">])]),</span>
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch1_include</span><span class="p">])]),</span>
|
||||
<span class="c1"># The primary camera should be launched at last</span>
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">6.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">save_rgbir</span><span class="p">])]),</span>
|
||||
<span class="c1"># save_rgbir is synced verification tool</span>
|
||||
<span class="p">]</span>
|
||||
<span class="p">)</span>
|
||||
|
||||
<span class="k">return</span> <span class="n">ld</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>save_rgbir 是一个用于保存图像的工具。该工具的配置文件在 <a class="reference external" href="../../config/tools/multisavergbir/multi_save_rgbir_params.json">multi_save_rgbir_params.json</a> 中。</p>
|
||||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"save_rgbir_params"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"time_domain"</span><span class="p">:</span><span class="w"> </span><span class="s2">"global"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"usb_ports"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||||
<span class="w"> </span><span class="s2">"2-1"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"2-3"</span>
|
||||
<span class="w"> </span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="nt">"camera_name"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||||
<span class="w"> </span><span class="s2">"camera_01"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_02"</span>
|
||||
<span class="w"> </span><span class="p">]</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">time_domain</span></code>:时间戳类型</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">usb_ports</span></code>:"primary"、"secondary 1"、"secondary 2"、"secondary 3",根据相机数量填写 usb_ports</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">camera_name</span></code>:相机设置的名称,例如:camera_01</p></li>
|
||||
</ul>
|
||||
<p><strong>DevicesInfo.txt</strong></p>
|
||||
<p>编辑 DevicesInfo.txt。只需要更改 <code class="docutils literal notranslate"><span class="pre">primarySerialNumber</span></code>、<code class="docutils literal notranslate"><span class="pre">index</span></code> 和 <code class="docutils literal notranslate"><span class="pre">serialNumber</span></code> 参数。其他参数不需要更改。请参考 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900">20250218102900</a> 的示例。</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">primarySerialNumber</span></code>:主相机的 SN 序列号</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">index</span></code>:相机索引</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">serialNumber</span></code>:相机的 SN 序列号</p></li>
|
||||
</ul>
|
||||
<p><strong>Config.ini</strong></p>
|
||||
<p>编辑 Config.ini。修改 <code class="docutils literal notranslate"><span class="pre">frameRate</span></code> 和 <code class="docutils literal notranslate"><span class="pre">tspRangeThreshold</span></code>。</p>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2><span class="section-number">5.2.3.3. </span>运行此示例<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<p><strong>运行启动文件并保存相机图片</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>第一个终端</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera_synced_verify.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p>第二个终端</p></li>
|
||||
</ul>
|
||||
<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>/save_rgbir/start_capture<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 100}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>当终端显示"over"时,图像已保存。将在工作空间下生成一个新的 multicamera_sync 文件夹。</p>
|
||||
<p><strong>相机图片命名格式</strong></p>
|
||||
<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg">color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg</a> 为例</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">color</span></code>:此图像是彩色流的快照。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">SNCP1E5420006D</span></code>:相机的 SN 序列号是 CP1E5420006D。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">Index0</span></code>:相机 0(通常指主相机)。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">g1739874543227</span></code>:"g"表示全局时间戳,意味着此帧的全局时间戳是 1739874543227。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">f0</span></code>:此相机彩色流采集的第 0 张图片。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">s1739874543327</span></code>:"s"表示当前系统的时间戳,意味着此帧的当前系统时间戳是 1739874543327。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">e50</span></code>:此帧的曝光为 50。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">d16</span></code>:此帧的增益为 16。</p></li>
|
||||
</ul>
|
||||
<p><strong>分析相机图像数据</strong></p>
|
||||
<p>您需要将修改后的 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python">Python 文件夹</a> 复制到新的 multi_camera_synced 子目录,并将修改后的 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt">DevicesInfo.txt</a> 和 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/StreamProfileInfo.txt">StreamProfileInfo.txt</a> 复制到与 TotalModeFrames 文件夹同级的目录。</p>
|
||||
<ul class="simple">
|
||||
<li><p>最后一切准备就绪,运行 python 脚本</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>multicamera_sync/Python
|
||||
python3<span class="w"> </span>SyncFramesMain.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>操作成功后,您可以在 <code class="docutils literal notranslate"><span class="pre">results</span> <span class="pre">文件夹</span></code> 中查看同步效果</p>
|
||||
</section>
|
||||
<section id="id5">
|
||||
<h2><span class="section-number">5.2.3.4. </span>需要更改的文件<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
|
||||
<p><strong>分析工具</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json">multi_save_rgbir_params.json</a></p></li>
|
||||
<li><p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/DevicesInfo.txt">DevicesInfo.txt</a></p></li>
|
||||
<li><p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini">Config.ini</a></p></li>
|
||||
</ul>
|
||||
<p><strong>相机配置</strong></p>
|
||||
<p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml">camera_params.yaml</a>(相机启动参数设置)</p>
|
||||
<p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multi_camera_synced_verify.launch.py">multi_camera_synced_verify.launch.py</a></p>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
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|
||||
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|
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||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2025年10月22日 03:11:00.
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