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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-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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<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 current"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul class="current">
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||||
<li class="toctree-l3"><a class="reference internal" href="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="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="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="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="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="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="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 current"><a class="current reference internal" href="#">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="#id2">5.1.2.1. 简介</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#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="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="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="fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
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</ul>
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</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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>
|
||||
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
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<h1><span class="section-number">5.1.2. </span>高效的进程内通信:<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">5.1.2.1. </span>简介<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>如果我们的ROS2封装器节点与订阅者节点加载在同一进程中,它支持零拷贝通信。这可以减少图像/点云话题的拷贝时间,特别是在大帧分辨率和高FPS的情况下。</p>
|
||||
<p>您需要启动一个组件容器,并将我们的节点作为组件与其他组件节点一起启动。有关"在单个进程中组合多个节点"的更多详细信息,请参见 <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">此处</a>。</p>
|
||||
<p>有关高效进程内通信的更多详细信息,请参见 <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">此处</a>。</p>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">5.1.2.2. </span>示例<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p><strong>手动将多个组件加载到同一进程中</strong></p>
|
||||
<ul>
|
||||
<li><p>启动组件:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>rclcpp_components<span class="w"> </span>component_container
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p>添加封装器:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>component<span class="w"> </span>load<span class="w"> </span>/ComponentManager<span class="w"> </span>orbbec_camera<span class="w"> </span>orbbec_camera::OBCameraNodeDriver<span class="w"> </span>-e<span class="w"> </span>use_intra_process_comms:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>以相同方式加载其他组件节点(封装器话题的消费者)。</p>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>使用启动文件</strong></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_intra_process_demo_launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>限制</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>RCLPY目前不支持节点组件</p></li>
|
||||
<li><p>使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 的压缩图像将被禁用,因为进程内通信不支持此功能</p></li>
|
||||
</ul>
|
||||
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
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<li class="toctree-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-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-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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<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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||||
</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>
|
||||
<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>
|
||||
<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>
|
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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>
|
||||
<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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<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 current"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul class="current">
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<li class="toctree-l3"><a class="reference internal" href="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="lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
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<li class="toctree-l4"><a class="reference internal" href="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="lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">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="#id1">5.1.3.1. 调整系统参数</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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>
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||||
</nav>
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||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
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<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">5.1.3. </span>针对Orbbec相机与ROS2的Fast DDS优化</li>
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<a href="../../../_sources/source/5_advanced_guide/performance/fastdds_tuning.md.txt" rel="nofollow"> 查看页面源码</a>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="orbbecros2fast-dds">
|
||||
<h1><span class="section-number">5.1.3. </span>针对Orbbec相机与ROS2的Fast DDS优化<a class="headerlink" href="#orbbecros2fast-dds" title="Link to this heading"></a></h1>
|
||||
<p>使用默认配置时,Fast DDS表现出次优的传输效率,导致在ROS2中使用Orbbec相机时图像传输延迟显著。本文档提供了优化Fast DDS以提高图像传输效率的指导。</p>
|
||||
<section id="id1">
|
||||
<h2><span class="section-number">5.1.3.1. </span>调整系统参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<p><strong>IP分片时间</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>路径</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_time</span></code>(默认值:30秒)</p></li>
|
||||
<li><p><strong>目的</strong>: 定义IP分片保留在内存中的持续时间。</p></li>
|
||||
<li><p><strong>调整</strong>: 减少此值以缩短未接收到分片的时间窗口,这有助于减少延迟。考虑到您环境的具体需求,因为此设置会影响所有传入的分片。</p>
|
||||
<p><strong>示例</strong>: 设置为3秒。</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_time<span class="o">=</span><span class="m">3</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>IP分片内存阈值</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>路径</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_high_thresh</span></code>(默认值:262144字节)</p></li>
|
||||
<li><p><strong>目的</strong>: 设置用于重组IP分片的最大内存。</p></li>
|
||||
<li><p><strong>调整</strong>: 增加此值以允许更多内存用于分片重组,这可以改善较大数据包的处理。</p>
|
||||
<p><strong>示例</strong>: 增加到128 MB。</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_high_thresh<span class="o">=</span><span class="m">134217728</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p><strong>最大缓冲区大小</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>目的</strong>: 配置接收和发送数据的最大缓冲区大小,这对高吞吐量数据传输至关重要。</p></li>
|
||||
<li><p><strong>调整</strong>: 设置接收和发送操作的最大缓冲区大小。</p>
|
||||
<p><strong>命令</strong>:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
<p>或者,通过将这些设置添加到 <code class="docutils literal notranslate"><span class="pre">/etc/sysctl.d/10-fastrtps-max.conf</span></code> 文件中使其永久生效。</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>gedit<span class="w"> </span>/etc/sysctl.d/10-fastrtps-max.conf
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>将以下行添加到文件中:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
|
||||
net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>然后保存并退出文件。运行 <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">sysctl</span> <span class="pre">-p</span></code> 以应用更改。</p>
|
||||
<p>有关详细指导,请参考 <a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">ROS 2 DDS调优文档</a>。</p>
|
||||
</section>
|
||||
<section id="fast-dds">
|
||||
<h2><span class="section-number">5.1.3.2. </span>Fast DDS配置<a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h2>
|
||||
<p>以下是针对Orbbec相机与ROS2使用而优化的Fast DDS配置文件示例。此配置通过调整缓冲区大小和传输设置来增强整体数据传输。</p>
|
||||
<p><strong>配置文件:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
|
||||
<p>将此文件放在 <code class="docutils literal notranslate"><span class="pre">$HOME</span></code> 目录中。</p>
|
||||
<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="cp"><?xml version="1.0" encoding="UTF-8"?></span>
|
||||
<span class="nt"><profiles</span><span class="w"> </span><span class="na">xmlns=</span><span class="s">"http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><transport_descriptors></span>
|
||||
<span class="w"> </span><span class="nt"><transport_descriptor></span>
|
||||
<span class="w"> </span><span class="nt"><transport_id></span>UDP_transport<span class="nt"></transport_id></span>
|
||||
<span class="w"> </span><span class="nt"><type></span>UDPv4<span class="nt"></type></span>
|
||||
<span class="w"> </span><span class="nt"><maxInitialPeersRange></span>10<span class="nt"></maxInitialPeersRange></span>
|
||||
<span class="w"> </span><span class="nt"><maxMessageSize></span>65000<span class="nt"></maxMessageSize></span>
|
||||
<span class="w"> </span><span class="nt"><sendBufferSize></span>1048576<span class="nt"></sendBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><receiveBufferSize></span>1048576<span class="nt"></receiveBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"></transport_descriptor></span>
|
||||
<span class="w"> </span><span class="nt"></transport_descriptors></span>
|
||||
<span class="w"> </span><span class="nt"><participant</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"participant_profile_ros2"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><rtps></span>
|
||||
<span class="w"> </span><span class="nt"><name></span>profile_for_ros2_context<span class="nt"></name></span>
|
||||
<span class="w"> </span><span class="nt"><userTransports></span>
|
||||
<span class="w"> </span><span class="nt"><transport_id></span>UDP_transport<span class="nt"></transport_id></span>
|
||||
<span class="w"> </span><span class="nt"></userTransports></span>
|
||||
<span class="w"> </span><span class="nt"><useBuiltinTransports></span>false<span class="nt"></useBuiltinTransports></span>
|
||||
<span class="w"> </span><span class="nt"><sendSocketBufferSize></span>1048576<span class="nt"></sendSocketBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><listenSocketBufferSize></span>1048576<span class="nt"></listenSocketBufferSize></span>
|
||||
<span class="w"> </span><span class="nt"><builtin></span>
|
||||
<span class="w"> </span><span class="nt"><initialPeersList></span>
|
||||
<span class="w"> </span><span class="nt"><locator></span>
|
||||
<span class="w"> </span><span class="nt"><udpv4></span>
|
||||
<span class="w"> </span><span class="nt"><address></span>127.0.0.1<span class="nt"></address></span>
|
||||
<span class="w"> </span><span class="nt"></udpv4></span>
|
||||
<span class="w"> </span><span class="nt"></locator></span>
|
||||
<span class="w"> </span><span class="nt"></initialPeersList></span>
|
||||
<span class="w"> </span><span class="nt"></builtin></span>
|
||||
<span class="w"> </span><span class="nt"></rtps></span>
|
||||
<span class="w"> </span><span class="nt"></participant></span>
|
||||
<span class="w"> </span><span class="nt"><data_writer</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"default publisher profile"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><qos></span>
|
||||
<span class="w"> </span><span class="nt"><publishMode></span>
|
||||
<span class="w"> </span><span class="nt"><kind></span>ASYNCHRONOUS<span class="nt"></kind></span>
|
||||
<span class="w"> </span><span class="nt"></publishMode></span>
|
||||
<span class="w"> </span><span class="nt"><latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"><duration></span>
|
||||
<span class="w"> </span><span class="nt"><sec></span>0<span class="nt"></sec></span>
|
||||
<span class="w"> </span><span class="nt"><nanosec></span>1000000<span class="nt"></nanosec></span>
|
||||
<span class="w"> </span><span class="nt"></duration></span>
|
||||
<span class="w"> </span><span class="nt"></latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"></qos></span>
|
||||
<span class="w"> </span><span class="nt"><historyMemoryPolicy></span>PREALLOCATED_WITH_REALLOC<span class="nt"></historyMemoryPolicy></span>
|
||||
<span class="w"> </span><span class="nt"></data_writer></span>
|
||||
<span class="w"> </span><span class="nt"><data_reader</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">"default subscription profile"</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">"true"</span><span class="nt">></span>
|
||||
<span class="w"> </span><span class="nt"><qos></span>
|
||||
<span class="w"> </span><span class="nt"><data_sharing></span>
|
||||
<span class="w"> </span><span class="nt"><kind></span>AUTOMATIC<span class="nt"></kind></span>
|
||||
<span class="w"> </span><span class="nt"></data_sharing></span>
|
||||
<span class="w"> </span><span class="nt"><latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"><duration></span>
|
||||
<span class="w"> </span><span class="nt"><sec></span>0<span class="nt"></sec></span>
|
||||
<span class="w"> </span><span class="nt"><nanosec></span>1000000<span class="nt"></nanosec></span>
|
||||
<span class="w"> </span><span class="nt"></duration></span>
|
||||
<span class="w"> </span><span class="nt"></latencyBudget></span>
|
||||
<span class="w"> </span><span class="nt"></qos></span>
|
||||
<span class="w"> </span><span class="nt"><historyMemoryPolicy></span>PREALLOCATED_WITH_REALLOC<span class="nt"></historyMemoryPolicy></span>
|
||||
<span class="w"> </span><span class="nt"></data_reader></span>
|
||||
<span class="nt"></profiles></span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>环境变量</strong></p>
|
||||
<p>设置以下环境变量以使用自定义Fast DDS配置文件:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">export</span><span class="w"> </span><span class="nv">RMW_IMPLEMENTATION</span><span class="o">=</span>rmw_fastrtps_cpp
|
||||
<span class="nb">export</span><span class="w"> </span><span class="nv">FASTRTPS_DEFAULT_PROFILES_FILE</span><span class="o">=</span><span class="nv">$HOME</span>/shm_fastdds.xml
|
||||
<span class="nb">export</span><span class="w"> </span><span class="nv">RMW_FASTRTPS_USE_QOS_FROM_XML</span><span class="o">=</span><span class="m">1</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>此配置旨在优化数据流并减少传输延迟,提高Orbbec相机系统在ROS2环境中的响应性和可靠性。</p>
|
||||
</section>
|
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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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<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>
|
||||
<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>
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</ul>
|
||||
</li>
|
||||
<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>
|
||||
<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>
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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>
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||||
<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>
|
||||
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||||
</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>
|
||||
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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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||||
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||||
</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>
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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>
|
||||
<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>
|
||||
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||||
</ul>
|
||||
</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>
|
||||
<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>
|
||||
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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#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 current"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul class="current">
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">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="#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="#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="#id2">5.1.1.3. 测试环境</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id3">5.1.1.4. 测试设置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id4">5.1.1.5. 测试结果</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id5">5.1.1.6. 进一步优化</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="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="efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="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="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="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="fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../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>
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<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
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<li class="breadcrumb-item active"><span class="section-number">5.1.1. </span>使用Orbbec ROS包降低CPU使用率</li>
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<a href="../../../_sources/source/5_advanced_guide/performance/lower_cpu_usage.md.txt" rel="nofollow"> 查看页面源码</a>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="orbbec-roscpu">
|
||||
<h1><span class="section-number">5.1.1. </span>使用Orbbec ROS包降低CPU使用率<a class="headerlink" href="#orbbec-roscpu" title="Link to this heading"></a></h1>
|
||||
<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">示例</a> 中找到使用示例代码。</p>
|
||||
<p>本文档概述了在使用 <strong>Gemini 330系列相机</strong> 的 <strong>OrbbecSDK_ROS2 v2</strong> 环境中最小化CPU使用率的策略。固件版本必须 <strong>不低于1.4.10</strong>,且 <code class="docutils literal notranslate"><span class="pre">device</span></code> 应设置为 <strong>Default</strong>。</p>
|
||||
<section id="cpu">
|
||||
<h2><span class="section-number">5.1.1.1. </span>降低CPU使用率的推荐设置<a class="headerlink" href="#cpu" title="Link to this heading"></a></h2>
|
||||
<p>要在OrbbecSDK_ROS2中实现最低的CPU使用率,建议配置以下参数。</p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">参数</th>
|
||||
<th style="text-align: center;">推荐值</th>
|
||||
<th style="text-align: center;">说明</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;"><code>uvc_backend</code></td>
|
||||
<td style="text-align: center;"><code>v4l2</code></td>
|
||||
<td style="text-align: center;">与 <code>libuvc</code> 相比CPU使用率更低</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;"><code>color_format</code></td>
|
||||
<td style="text-align: center;"><code>RGB</code></td>
|
||||
<td style="text-align: center;">CPU使用率低于 <code>MJPG</code></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;"><code>filter</code></td>
|
||||
<td style="text-align: center;">仅使用 <code>hardware_noise_removal_filter</code></td>
|
||||
<td style="text-align: center;">其他滤波器会显著增加CPU使用率</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
<section id="id1">
|
||||
<h2><span class="section-number">5.1.1.2. </span>用于测试的启动文件<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_lower_cpu_usage.launch.py</span></code></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">5.1.1.3. </span>测试环境<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p><strong>硬件配置</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>CPU</strong>: Intel i7-8700 @ 3.20GHz</p></li>
|
||||
<li><p><strong>内存</strong>: 24 GB</p></li>
|
||||
<li><p><strong>存储</strong>: Micron 2200S NVMe 256GB</p></li>
|
||||
<li><p><strong>GPU</strong>: NVIDIA GeForce GTX 1660Ti</p></li>
|
||||
<li><p><strong>操作系统</strong>: Ubuntu22.04</p></li>
|
||||
</ul>
|
||||
<p><strong>ROS配置</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>ROS版本</strong>: ROS2 Humble</p></li>
|
||||
<li><p><strong>SDK版本</strong>: OrbbecSDK_ROS2 v2.2.1</p></li>
|
||||
</ul>
|
||||
<p><strong>相机设置</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>设备: 2x Gemini 335, 1x Gemini 336, 1x Gemini 336L</p></li>
|
||||
<li><p>固件版本: 1.4.10</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">5.1.1.4. </span>测试设置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p><strong>数据流设置:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>深度/左IR/右IR: 848×480 @ 30fps</p></li>
|
||||
<li><p>彩色: 848×480 @ 30fps</p></li>
|
||||
</ul>
|
||||
<p>注意:以下CPU使用率数据重点关注 <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code>、<code class="docutils literal notranslate"><span class="pre">color_format</span></code> 和各种滤波器组合。</p>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2><span class="section-number">5.1.1.5. </span>测试结果<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> 对比(RGB格式)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">libuvc CPU使用率</th>
|
||||
<th style="text-align: center;">v4l2 CPU使用率</th>
|
||||
<th style="text-align: center;">绝对变化</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">182.8%</td>
|
||||
<td style="text-align: center;">118.8%</td>
|
||||
<td style="text-align: center;">-64.0%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>使用v4l2后端可以显著降低CPU使用率。在我们的实现中,v4l2无需对Linux内核进行任何补丁即可工作,允许用户轻松在v4l2和libuvc之间切换,并保持与标准Linux发行版的完全兼容性。</p>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">color_format</span></code> 对比(MJPG vs RGB)</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">后端</th>
|
||||
<th style="text-align: center;">MJPG CPU使用率</th>
|
||||
<th style="text-align: center;">RGB CPU使用率</th>
|
||||
<th style="text-align: center;">绝对变化</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">libuvc</td>
|
||||
<td style="text-align: center;">347.7%</td>
|
||||
<td style="text-align: center;">182.8%</td>
|
||||
<td style="text-align: center;">-164.9%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">v4l2</td>
|
||||
<td style="text-align: center;">170.0%</td>
|
||||
<td style="text-align: center;">118.8%</td>
|
||||
<td style="text-align: center;">-51.2%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>如果选择RGB格式而不是MJPG,可以降低CPU使用率,因为MJPG图像的解码会消耗主机CPU资源。</p>
|
||||
<p><strong>滤波器配置影响</strong></p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>应用的滤波器</th>
|
||||
<th>libuvc CPU使用率</th>
|
||||
<th>CPU使用率增加</th>
|
||||
<th>v4l2 CPU使用率</th>
|
||||
<th>CPU使用率增加</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>无滤波器(基准)</td>
|
||||
<td>182.8%</td>
|
||||
<td>0.0%(基准)</td>
|
||||
<td>118.8%</td>
|
||||
<td>0.0%(基准)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>(软件)noise_removal_filter</code></td>
|
||||
<td>218.0%</td>
|
||||
<td>+35.2%</td>
|
||||
<td>128.5%</td>
|
||||
<td>+9.7%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>(软件)noise_removal_filter + spatial_filter</code></td>
|
||||
<td>469.6%</td>
|
||||
<td>+286.8%</td>
|
||||
<td>336.7%</td>
|
||||
<td>+217.9%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>hardware_noise_removal_filter</code></td>
|
||||
<td>186.3%</td>
|
||||
<td>+3.5%</td>
|
||||
<td>115.4%</td>
|
||||
<td>-3.4%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><code>hardware_noise_removal_filter + spatial_filter</code></td>
|
||||
<td>251.3%</td>
|
||||
<td>+68.5%</td>
|
||||
<td>152.5%</td>
|
||||
<td>+33.7%</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>根据测试结果,仅使用 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> 相比无滤波器基准,对 <code class="docutils literal notranslate"><span class="pre">libuvc</span></code>(+3.5%)和 <code class="docutils literal notranslate"><span class="pre">v4l2</span></code>(-3.4%)的CPU使用率变化可以忽略不计,因为此滤波器在相机硬件内部运行。相比之下,其他滤波器在主机系统上执行。将 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 添加到硬件滤波器会导致CPU使用率适度增加,而应用基于软件的 <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code>——无论是单独使用还是与 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 结合——都会显著增加CPU负载。为保持较低的CPU使用率,建议避免使用基于软件的滤波器,仅依赖 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>。</p>
|
||||
</section>
|
||||
<section id="id5">
|
||||
<h2><span class="section-number">5.1.1.6. </span>进一步优化<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">参数</th>
|
||||
<th style="text-align: center;">推荐值</th>
|
||||
<th style="text-align: center;">说明</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;"><code>depth_registration</code></td>
|
||||
<td style="text-align: center;"><code>false</code> 或 <code>true</code> 配合 <code>align_mode=HW</code></td>
|
||||
<td style="text-align: center;">软件对齐消耗更多CPU</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;"><code>enable_point_cloud</code></td>
|
||||
<td style="text-align: center;"><code>false</code></td>
|
||||
<td style="text-align: center;">禁用点云可降低CPU使用率</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;"><code>enable_colored_point_cloud</code></td>
|
||||
<td style="text-align: center;"><code>false</code></td>
|
||||
<td style="text-align: center;">禁用彩色点云可降低CPU使用率</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
</section>
|
||||
|
||||
|
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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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