diff --git a/en/.buildinfo b/en/.buildinfo index f502cc22..297b1544 100644 --- a/en/.buildinfo +++ b/en/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file records the configuration used when building these files. When it is not found, a full rebuild will be done. -config: 0f7510548283e570859d8a471618b1d1 +config: adc71f2003683a11b4d207e0b3b8cf8e tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/en/.doctrees/environment.pickle b/en/.doctrees/environment.pickle index 671aeda9..7aa356ed 100644 Binary files a/en/.doctrees/environment.pickle and b/en/.doctrees/environment.pickle differ diff --git a/en/.doctrees/index.doctree b/en/.doctrees/index.doctree index a77d0b30..50a7b1f5 100644 Binary files a/en/.doctrees/index.doctree and b/en/.doctrees/index.doctree differ diff --git a/en/.doctrees/source/2_installation/build_the_package.doctree b/en/.doctrees/source/2_installation/build_the_package.doctree deleted file mode 100644 index 07c9ec26..00000000 Binary files a/en/.doctrees/source/2_installation/build_the_package.doctree and /dev/null differ diff --git a/en/.doctrees/source/4_application_guide/launch_parameters.doctree b/en/.doctrees/source/4_application_guide/launch_parameters.doctree deleted file mode 100644 index 60d96d35..00000000 Binary files a/en/.doctrees/source/4_application_guide/launch_parameters.doctree and /dev/null differ diff --git a/en/.doctrees/source/1_overview/introduction.doctree b/en/.doctrees/source/camera_devices/1_overview/introduction.doctree similarity index 94% rename from en/.doctrees/source/1_overview/introduction.doctree rename to en/.doctrees/source/camera_devices/1_overview/introduction.doctree index 43c7cc53..3ce04dd6 100644 Binary files a/en/.doctrees/source/1_overview/introduction.doctree and b/en/.doctrees/source/camera_devices/1_overview/introduction.doctree differ diff --git a/en/.doctrees/source/1_overview/orbbecsdk_overview.doctree b/en/.doctrees/source/camera_devices/1_overview/orbbecsdk_overview.doctree similarity index 89% rename from en/.doctrees/source/1_overview/orbbecsdk_overview.doctree rename to en/.doctrees/source/camera_devices/1_overview/orbbecsdk_overview.doctree index d1abc91a..d7178bf0 100644 Binary files a/en/.doctrees/source/1_overview/orbbecsdk_overview.doctree and b/en/.doctrees/source/camera_devices/1_overview/orbbecsdk_overview.doctree differ diff --git a/en/.doctrees/source/1_overview/overview.doctree b/en/.doctrees/source/camera_devices/1_overview/overview.doctree similarity index 72% rename from en/.doctrees/source/1_overview/overview.doctree rename to en/.doctrees/source/camera_devices/1_overview/overview.doctree index f79c6fe1..9d6be2c2 100644 Binary files a/en/.doctrees/source/1_overview/overview.doctree and b/en/.doctrees/source/camera_devices/1_overview/overview.doctree differ diff --git a/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree b/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree new file mode 100644 index 00000000..92de05ea Binary files /dev/null and b/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree differ diff --git a/en/.doctrees/source/2_installation/installation.doctree b/en/.doctrees/source/camera_devices/2_installation/installation.doctree similarity index 70% rename from en/.doctrees/source/2_installation/installation.doctree rename to en/.doctrees/source/camera_devices/2_installation/installation.doctree index e9f00e3e..8ff0016c 100644 Binary files a/en/.doctrees/source/2_installation/installation.doctree and b/en/.doctrees/source/camera_devices/2_installation/installation.doctree differ diff --git a/en/.doctrees/source/2_installation/registration_script.doctree b/en/.doctrees/source/camera_devices/2_installation/registration_script.doctree similarity index 89% rename from en/.doctrees/source/2_installation/registration_script.doctree rename to en/.doctrees/source/camera_devices/2_installation/registration_script.doctree index c05287d5..d0979985 100644 Binary files a/en/.doctrees/source/2_installation/registration_script.doctree and b/en/.doctrees/source/camera_devices/2_installation/registration_script.doctree differ diff --git a/en/.doctrees/source/3_quickstarts/orbbecviewer.doctree b/en/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree similarity index 75% rename from en/.doctrees/source/3_quickstarts/orbbecviewer.doctree rename to en/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree index 3f80017c..5841be59 100644 Binary files a/en/.doctrees/source/3_quickstarts/orbbecviewer.doctree and b/en/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree differ diff --git a/en/.doctrees/source/3_quickstarts/quickstart.doctree b/en/.doctrees/source/camera_devices/3_quickstarts/quickstart.doctree similarity index 98% rename from en/.doctrees/source/3_quickstarts/quickstart.doctree rename to en/.doctrees/source/camera_devices/3_quickstarts/quickstart.doctree index 449f9626..80214124 100644 Binary files a/en/.doctrees/source/3_quickstarts/quickstart.doctree and b/en/.doctrees/source/camera_devices/3_quickstarts/quickstart.doctree differ diff --git a/en/.doctrees/source/3_quickstarts/quickstarts.doctree b/en/.doctrees/source/camera_devices/3_quickstarts/quickstarts.doctree similarity index 72% rename from en/.doctrees/source/3_quickstarts/quickstarts.doctree rename to en/.doctrees/source/camera_devices/3_quickstarts/quickstarts.doctree index d85988d6..b6abd8c6 100644 Binary files a/en/.doctrees/source/3_quickstarts/quickstarts.doctree and b/en/.doctrees/source/camera_devices/3_quickstarts/quickstarts.doctree differ diff --git a/en/.doctrees/source/4_application_guide/application_guide.doctree b/en/.doctrees/source/camera_devices/4_application_guide/application_guide.doctree similarity index 65% rename from en/.doctrees/source/4_application_guide/application_guide.doctree rename to en/.doctrees/source/camera_devices/4_application_guide/application_guide.doctree index 9ca4277b..13f646e9 100644 Binary files a/en/.doctrees/source/4_application_guide/application_guide.doctree and b/en/.doctrees/source/camera_devices/4_application_guide/application_guide.doctree differ diff --git a/en/.doctrees/source/4_application_guide/compressed_image.doctree b/en/.doctrees/source/camera_devices/4_application_guide/compressed_image.doctree similarity index 53% rename from en/.doctrees/source/4_application_guide/compressed_image.doctree rename to en/.doctrees/source/camera_devices/4_application_guide/compressed_image.doctree index 2d63a2b3..b2bfcd9e 100644 Binary files a/en/.doctrees/source/4_application_guide/compressed_image.doctree and b/en/.doctrees/source/camera_devices/4_application_guide/compressed_image.doctree differ diff --git a/en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree b/en/.doctrees/source/camera_devices/4_application_guide/coordinate_and_tf.doctree similarity index 83% rename from en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree rename to en/.doctrees/source/camera_devices/4_application_guide/coordinate_and_tf.doctree index d0e93895..7810b327 100644 Binary files a/en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree and b/en/.doctrees/source/camera_devices/4_application_guide/coordinate_and_tf.doctree differ diff --git a/en/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree b/en/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree new file mode 100644 index 00000000..d3f22a0f Binary files /dev/null and b/en/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree differ diff --git a/en/.doctrees/source/4_application_guide/point_cloud.doctree b/en/.doctrees/source/camera_devices/4_application_guide/point_cloud.doctree similarity index 88% rename from en/.doctrees/source/4_application_guide/point_cloud.doctree rename to en/.doctrees/source/camera_devices/4_application_guide/point_cloud.doctree index e3abc683..12aa68c4 100644 Binary files a/en/.doctrees/source/4_application_guide/point_cloud.doctree and b/en/.doctrees/source/camera_devices/4_application_guide/point_cloud.doctree differ diff --git a/en/.doctrees/source/4_application_guide/services.doctree b/en/.doctrees/source/camera_devices/4_application_guide/services.doctree similarity index 92% rename from en/.doctrees/source/4_application_guide/services.doctree rename to en/.doctrees/source/camera_devices/4_application_guide/services.doctree index 4df85693..005265b9 100644 Binary files a/en/.doctrees/source/4_application_guide/services.doctree and b/en/.doctrees/source/camera_devices/4_application_guide/services.doctree differ diff --git a/en/.doctrees/source/4_application_guide/topics.doctree b/en/.doctrees/source/camera_devices/4_application_guide/topics.doctree similarity index 91% rename from en/.doctrees/source/4_application_guide/topics.doctree rename to en/.doctrees/source/camera_devices/4_application_guide/topics.doctree index b4236807..7333409f 100644 Binary files a/en/.doctrees/source/4_application_guide/topics.doctree and b/en/.doctrees/source/camera_devices/4_application_guide/topics.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/advanced_guide.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/advanced_guide.doctree similarity index 55% rename from en/.doctrees/source/5_advanced_guide/advanced_guide.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/advanced_guide.doctree index 774bd3bf..2f5d8722 100644 Binary files a/en/.doctrees/source/5_advanced_guide/advanced_guide.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/advanced_guide.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/configuration/align_depth_color.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/align_depth_color.doctree similarity index 83% rename from en/.doctrees/source/5_advanced_guide/configuration/align_depth_color.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/align_depth_color.doctree index 48eb86e0..91b962b6 100644 Binary files a/en/.doctrees/source/5_advanced_guide/configuration/align_depth_color.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/align_depth_color.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree similarity index 91% rename from en/.doctrees/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree index 317053ea..3e13a934 100644 Binary files a/en/.doctrees/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/configuration/depth_work_mode_switch.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.doctree similarity index 94% rename from en/.doctrees/source/5_advanced_guide/configuration/depth_work_mode_switch.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.doctree index a4f5f192..0e713a1a 100644 Binary files a/en/.doctrees/source/5_advanced_guide/configuration/depth_work_mode_switch.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/configuration/disparity_search_offset.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.doctree similarity index 97% rename from en/.doctrees/source/5_advanced_guide/configuration/disparity_search_offset.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.doctree index 9405f096..b896f9e9 100644 Binary files a/en/.doctrees/source/5_advanced_guide/configuration/disparity_search_offset.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/configuration/interleave_ae_mode.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.doctree similarity index 93% rename from en/.doctrees/source/5_advanced_guide/configuration/interleave_ae_mode.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.doctree index 4e6a6f20..b8e55935 100644 Binary files a/en/.doctrees/source/5_advanced_guide/configuration/interleave_ae_mode.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/configuration/net_camera.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree similarity index 94% rename from en/.doctrees/source/5_advanced_guide/configuration/net_camera.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree index 2bbfbff7..47e678fd 100644 Binary files a/en/.doctrees/source/5_advanced_guide/configuration/net_camera.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/configuration/predefined_presets.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree similarity index 95% rename from en/.doctrees/source/5_advanced_guide/configuration/predefined_presets.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree index 13584cff..bc7f0ecb 100644 Binary files a/en/.doctrees/source/5_advanced_guide/configuration/predefined_presets.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/multi_camera/gmsl_camera.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.doctree similarity index 93% rename from en/.doctrees/source/5_advanced_guide/multi_camera/gmsl_camera.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.doctree index 91930c31..3f6ffff5 100644 Binary files a/en/.doctrees/source/5_advanced_guide/multi_camera/gmsl_camera.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.doctree similarity index 91% rename from en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.doctree index a5b72663..1f8c87ef 100644 Binary files a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.doctree similarity index 83% rename from en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.doctree index 75eebcff..c24f1e65 100644 Binary files a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree similarity index 98% rename from en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree index c5c4dfed..1f2283e7 100644 Binary files a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/performance/efficient_intra_process_communication.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.doctree similarity index 96% rename from en/.doctrees/source/5_advanced_guide/performance/efficient_intra_process_communication.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.doctree index da40b9b0..6930acbf 100644 Binary files a/en/.doctrees/source/5_advanced_guide/performance/efficient_intra_process_communication.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/performance/fastdds_tuning.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.doctree similarity index 98% rename from en/.doctrees/source/5_advanced_guide/performance/fastdds_tuning.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.doctree index be452afe..aae6d838 100644 Binary files a/en/.doctrees/source/5_advanced_guide/performance/fastdds_tuning.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.doctree differ diff --git a/en/.doctrees/source/5_advanced_guide/performance/lower_cpu_usage.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.doctree similarity index 92% rename from en/.doctrees/source/5_advanced_guide/performance/lower_cpu_usage.doctree rename to en/.doctrees/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.doctree index 5f374be0..011aa81c 100644 Binary files a/en/.doctrees/source/5_advanced_guide/performance/lower_cpu_usage.doctree and b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.doctree differ diff --git a/en/.doctrees/source/6_benchmark/benchmark.doctree b/en/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree similarity index 70% rename from en/.doctrees/source/6_benchmark/benchmark.doctree rename to en/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree index 3cb90c35..42c6d02f 100644 Binary files a/en/.doctrees/source/6_benchmark/benchmark.doctree and b/en/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree differ diff --git a/en/.doctrees/source/6_benchmark/benchmark_data.doctree b/en/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree similarity index 90% rename from en/.doctrees/source/6_benchmark/benchmark_data.doctree rename to en/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree index 33fcef31..280bced7 100644 Binary files a/en/.doctrees/source/6_benchmark/benchmark_data.doctree and b/en/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree differ diff --git a/en/.doctrees/source/6_benchmark/benchmark_usage.doctree b/en/.doctrees/source/camera_devices/6_benchmark/benchmark_usage.doctree similarity index 96% rename from en/.doctrees/source/6_benchmark/benchmark_usage.doctree rename to en/.doctrees/source/camera_devices/6_benchmark/benchmark_usage.doctree index 51ee7da7..d0036599 100644 Binary files a/en/.doctrees/source/6_benchmark/benchmark_usage.doctree and b/en/.doctrees/source/camera_devices/6_benchmark/benchmark_usage.doctree differ diff --git a/en/.doctrees/source/6_benchmark/introduction.doctree b/en/.doctrees/source/camera_devices/6_benchmark/introduction.doctree similarity index 82% rename from en/.doctrees/source/6_benchmark/introduction.doctree rename to en/.doctrees/source/camera_devices/6_benchmark/introduction.doctree index 3e6fc6ab..d1170a50 100644 Binary files a/en/.doctrees/source/6_benchmark/introduction.doctree and b/en/.doctrees/source/camera_devices/6_benchmark/introduction.doctree differ diff --git a/en/.doctrees/source/6_benchmark/othertools.doctree b/en/.doctrees/source/camera_devices/6_benchmark/othertools.doctree similarity index 98% rename from en/.doctrees/source/6_benchmark/othertools.doctree rename to en/.doctrees/source/camera_devices/6_benchmark/othertools.doctree index e0869597..1008cab5 100644 Binary files a/en/.doctrees/source/6_benchmark/othertools.doctree and b/en/.doctrees/source/camera_devices/6_benchmark/othertools.doctree differ diff --git a/en/.doctrees/source/7_developer_guide/building_a_Debian_Package.doctree b/en/.doctrees/source/camera_devices/7_developer_guide/building_a_Debian_Package.doctree similarity index 96% rename from en/.doctrees/source/7_developer_guide/building_a_Debian_Package.doctree rename to en/.doctrees/source/camera_devices/7_developer_guide/building_a_Debian_Package.doctree index 25fb834d..5da38031 100644 Binary files a/en/.doctrees/source/7_developer_guide/building_a_Debian_Package.doctree and b/en/.doctrees/source/camera_devices/7_developer_guide/building_a_Debian_Package.doctree differ diff --git a/en/.doctrees/source/7_developer_guide/developer_guide.doctree b/en/.doctrees/source/camera_devices/7_developer_guide/developer_guide.doctree similarity index 73% rename from en/.doctrees/source/7_developer_guide/developer_guide.doctree rename to en/.doctrees/source/camera_devices/7_developer_guide/developer_guide.doctree index 474b1cc2..b199ea8e 100644 Binary files a/en/.doctrees/source/7_developer_guide/developer_guide.doctree and b/en/.doctrees/source/camera_devices/7_developer_guide/developer_guide.doctree differ diff --git a/en/.doctrees/source/7_developer_guide/migration_guide.doctree b/en/.doctrees/source/camera_devices/7_developer_guide/migration_guide.doctree similarity index 99% rename from en/.doctrees/source/7_developer_guide/migration_guide.doctree rename to en/.doctrees/source/camera_devices/7_developer_guide/migration_guide.doctree index e8690857..cc00c32a 100644 Binary files a/en/.doctrees/source/7_developer_guide/migration_guide.doctree and b/en/.doctrees/source/camera_devices/7_developer_guide/migration_guide.doctree differ diff --git a/en/.doctrees/source/8_FAQ/FAQ.doctree b/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree similarity index 86% rename from en/.doctrees/source/8_FAQ/FAQ.doctree rename to en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree index a1c4c39d..36a3468a 100644 Binary files a/en/.doctrees/source/8_FAQ/FAQ.doctree and b/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree differ diff --git a/en/.doctrees/source/camera_devices/index.doctree b/en/.doctrees/source/camera_devices/index.doctree new file mode 100644 index 00000000..3a9d5286 Binary files /dev/null and b/en/.doctrees/source/camera_devices/index.doctree differ diff --git a/en/.doctrees/source/lidar_devices/index.doctree b/en/.doctrees/source/lidar_devices/index.doctree new file mode 100644 index 00000000..e41e7807 Binary files /dev/null and b/en/.doctrees/source/lidar_devices/index.doctree differ diff --git a/en/.doctrees/source/lidar_devices/lidar.doctree b/en/.doctrees/source/lidar_devices/lidar.doctree new file mode 100644 index 00000000..6962c305 Binary files /dev/null and b/en/.doctrees/source/lidar_devices/lidar.doctree differ diff --git a/en/Default_Flowchart.png b/en/Default_Flowchart.png deleted file mode 100644 index 3190cc1e..00000000 Binary files a/en/Default_Flowchart.png and /dev/null differ diff --git a/en/Soft_Architecture.png b/en/Soft_Architecture.png deleted file mode 100644 index 91ad16c8..00000000 Binary files a/en/Soft_Architecture.png and /dev/null differ diff --git a/en/Standard_Flowchart.png b/en/Standard_Flowchart.png deleted file mode 100644 index 9e8b397d..00000000 Binary files a/en/Standard_Flowchart.png and /dev/null differ diff --git a/en/Win_Config_image1.png b/en/Win_Config_image1.png deleted file mode 100644 index a6842a40..00000000 Binary files a/en/Win_Config_image1.png and /dev/null differ diff --git a/en/Win_Config_image10.png b/en/Win_Config_image10.png deleted file mode 100644 index c1a1100e..00000000 Binary files a/en/Win_Config_image10.png and /dev/null differ diff --git a/en/Win_Config_image11.png b/en/Win_Config_image11.png deleted file mode 100644 index 3d4321ab..00000000 Binary files a/en/Win_Config_image11.png and /dev/null differ diff --git a/en/Win_Config_image2.png b/en/Win_Config_image2.png deleted file mode 100644 index 02a5d571..00000000 Binary files a/en/Win_Config_image2.png and /dev/null differ diff --git a/en/Win_Config_image3.png b/en/Win_Config_image3.png deleted file mode 100644 index 3166272a..00000000 Binary files a/en/Win_Config_image3.png and /dev/null differ diff --git a/en/Win_Config_image4.png b/en/Win_Config_image4.png deleted file mode 100644 index 507e1c0b..00000000 Binary files a/en/Win_Config_image4.png and /dev/null differ diff --git a/en/Win_Config_image5.png b/en/Win_Config_image5.png deleted file mode 100644 index 9fa51c50..00000000 Binary files a/en/Win_Config_image5.png and /dev/null differ diff --git a/en/Win_Config_image6.png b/en/Win_Config_image6.png deleted file mode 100644 index 8c6d0c0c..00000000 Binary files a/en/Win_Config_image6.png and /dev/null differ diff --git a/en/Win_Config_image7.png b/en/Win_Config_image7.png deleted file mode 100644 index 831897c8..00000000 Binary files a/en/Win_Config_image7.png and /dev/null differ diff --git a/en/Win_Config_image8.png b/en/Win_Config_image8.png deleted file mode 100644 index b0a53b58..00000000 Binary files a/en/Win_Config_image8.png and /dev/null differ diff --git a/en/Win_Config_image9.png b/en/Win_Config_image9.png deleted file mode 100644 index 0551e619..00000000 Binary files a/en/Win_Config_image9.png and /dev/null differ diff --git a/en/_sources/index.rst.txt b/en/_sources/index.rst.txt index fa3c229b..00e0c096 100644 --- a/en/_sources/index.rst.txt +++ b/en/_sources/index.rst.txt @@ -10,11 +10,5 @@ OrbbecSDK V2 ROS2 Wrapper documentation :maxdepth: 3 :numbered: - source/1_overview/overview.rst - source/2_installation/installation.rst - source/3_quickstarts/quickstarts.rst - source/4_application_guide/application_guide.rst - source/5_advanced_guide/advanced_guide.rst - source/6_benchmark/benchmark.rst - source/7_developer_guide/developer_guide.rst - source/8_FAQ/FAQ.rst + source/camera_devices/index.rst + source/lidar_devices/index.rst diff --git a/en/_sources/source/1_overview/introduction.md.txt b/en/_sources/source/camera_devices/1_overview/introduction.md.txt similarity index 100% rename from en/_sources/source/1_overview/introduction.md.txt rename to en/_sources/source/camera_devices/1_overview/introduction.md.txt diff --git a/en/_sources/source/1_overview/orbbecsdk_overview.md.txt b/en/_sources/source/camera_devices/1_overview/orbbecsdk_overview.md.txt similarity index 100% rename from en/_sources/source/1_overview/orbbecsdk_overview.md.txt rename to en/_sources/source/camera_devices/1_overview/orbbecsdk_overview.md.txt diff --git a/en/_sources/source/1_overview/overview.rst.txt b/en/_sources/source/camera_devices/1_overview/overview.rst.txt similarity index 100% rename from en/_sources/source/1_overview/overview.rst.txt rename to en/_sources/source/camera_devices/1_overview/overview.rst.txt diff --git a/en/_sources/source/2_installation/build_the_package.md.txt b/en/_sources/source/camera_devices/2_installation/build_the_package.md.txt similarity index 92% rename from en/_sources/source/2_installation/build_the_package.md.txt rename to en/_sources/source/camera_devices/2_installation/build_the_package.md.txt index 3dfde7a2..8db9a820 100644 --- a/en/_sources/source/2_installation/build_the_package.md.txt +++ b/en/_sources/source/camera_devices/2_installation/build_the_package.md.txt @@ -1,6 +1,5 @@ -### Binary Installation +### Environment configuration -#### Environment Install ROS 2 according to the official guide: @@ -22,7 +21,7 @@ Enable ROS 2 auto-completion: eval "$(register-python-argcomplete3 ros2)" eval "$(register-python-argcomplete3 colcon)" ``` -#### Linux Binary Package Installation +### Linux Binary Package Installation Check available packages: @@ -43,7 +42,6 @@ After installation, you can use it directly without compilation. ### Build from Source -#### Linux ROS2 Wrapper Compilation Create a `colcon` workspace: diff --git a/en/_sources/source/2_installation/installation.rst.txt b/en/_sources/source/camera_devices/2_installation/installation.rst.txt similarity index 100% rename from en/_sources/source/2_installation/installation.rst.txt rename to en/_sources/source/camera_devices/2_installation/installation.rst.txt diff --git a/en/_sources/source/2_installation/registration_script.md.txt b/en/_sources/source/camera_devices/2_installation/registration_script.md.txt similarity index 100% rename from en/_sources/source/2_installation/registration_script.md.txt rename to en/_sources/source/camera_devices/2_installation/registration_script.md.txt diff --git a/en/_sources/source/3_quickstarts/orbbecviewer.md.txt b/en/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt similarity index 100% rename from en/_sources/source/3_quickstarts/orbbecviewer.md.txt rename to en/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt diff --git a/en/_sources/source/3_quickstarts/quickstart.md.txt b/en/_sources/source/camera_devices/3_quickstarts/quickstart.md.txt similarity index 100% rename from en/_sources/source/3_quickstarts/quickstart.md.txt rename to en/_sources/source/camera_devices/3_quickstarts/quickstart.md.txt diff --git a/en/_sources/source/3_quickstarts/quickstarts.rst.txt b/en/_sources/source/camera_devices/3_quickstarts/quickstarts.rst.txt similarity index 100% rename from en/_sources/source/3_quickstarts/quickstarts.rst.txt rename to en/_sources/source/camera_devices/3_quickstarts/quickstarts.rst.txt diff --git a/en/_sources/source/4_application_guide/application_guide.rst.txt b/en/_sources/source/camera_devices/4_application_guide/application_guide.rst.txt similarity index 100% rename from en/_sources/source/4_application_guide/application_guide.rst.txt rename to en/_sources/source/camera_devices/4_application_guide/application_guide.rst.txt diff --git a/en/_sources/source/4_application_guide/compressed_image.md.txt b/en/_sources/source/camera_devices/4_application_guide/compressed_image.md.txt similarity index 100% rename from en/_sources/source/4_application_guide/compressed_image.md.txt rename to en/_sources/source/camera_devices/4_application_guide/compressed_image.md.txt diff --git a/en/_sources/source/4_application_guide/coordinate_and_tf.md.txt b/en/_sources/source/camera_devices/4_application_guide/coordinate_and_tf.md.txt similarity index 100% rename from en/_sources/source/4_application_guide/coordinate_and_tf.md.txt rename to en/_sources/source/camera_devices/4_application_guide/coordinate_and_tf.md.txt diff --git a/en/_sources/source/4_application_guide/launch_parameters.md.txt b/en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt similarity index 95% rename from en/_sources/source/4_application_guide/launch_parameters.md.txt rename to en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt index 0fd5f530..d442b190 100644 --- a/en/_sources/source/4_application_guide/launch_parameters.md.txt +++ b/en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt @@ -41,6 +41,10 @@ The following are the launch parameters available: * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. * **`right_ir.image_raw.enable_pub_plugins`** * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. +* **`point_cloud_decimation_filter_factor`** + * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling; larger values apply stronger decimation. +* **`preset_resolution_config`** + * Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on specific devices like Gemini2. Leave empty to disable. ### Sensor Controls @@ -181,7 +185,7 @@ The following are the launch parameters available: * `COLOR`: Align depth to color. * `DEPTH`: Align color to depth. - **`intra_camera_sync_reference`** - - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. **Default:** `Middle` + - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle. ### Basic & General Parameters @@ -224,6 +228,8 @@ The following are the launch parameters available: #### Logging & Diagnostics * **`log_level`** * SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`. +* **`log_file_name`** + * Saved SDK log file name. Effective when `log_level` is `debug`. * **`diagnostic_period`** * Diagnostic period in seconds. * **`enable_heartbeat`** diff --git a/en/_sources/source/4_application_guide/point_cloud.md.txt b/en/_sources/source/camera_devices/4_application_guide/point_cloud.md.txt similarity index 100% rename from en/_sources/source/4_application_guide/point_cloud.md.txt rename to en/_sources/source/camera_devices/4_application_guide/point_cloud.md.txt diff --git a/en/_sources/source/4_application_guide/services.md.txt b/en/_sources/source/camera_devices/4_application_guide/services.md.txt similarity index 96% rename from en/_sources/source/4_application_guide/services.md.txt rename to en/_sources/source/camera_devices/4_application_guide/services.md.txt index 36ccb3e8..a2838fca 100644 --- a/en/_sources/source/4_application_guide/services.md.txt +++ b/en/_sources/source/camera_devices/4_application_guide/services.md.txt @@ -256,3 +256,13 @@ -6.804073229432106e-06]}' ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}' ``` + +### Point cloud decimation +* `/camera/set_point_cloud_decimation` + ```bash + ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}' + ``` +* `/camera/get_point_cloud_decimation` + ```bash + ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}' + ``` diff --git a/en/_sources/source/4_application_guide/topics.md.txt b/en/_sources/source/camera_devices/4_application_guide/topics.md.txt similarity index 100% rename from en/_sources/source/4_application_guide/topics.md.txt rename to en/_sources/source/camera_devices/4_application_guide/topics.md.txt diff --git a/en/_sources/source/5_advanced_guide/advanced_guide.rst.txt b/en/_sources/source/camera_devices/5_advanced_guide/advanced_guide.rst.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/advanced_guide.rst.txt rename to en/_sources/source/camera_devices/5_advanced_guide/advanced_guide.rst.txt diff --git a/en/_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt diff --git a/en/_sources/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt diff --git a/en/_sources/source/5_advanced_guide/configuration/depth_work_mode_switch.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/configuration/depth_work_mode_switch.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.md.txt diff --git a/en/_sources/source/5_advanced_guide/configuration/disparity_search_offset.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/configuration/disparity_search_offset.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt diff --git a/en/_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.md.txt diff --git a/en/_sources/source/5_advanced_guide/configuration/net_camera.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/configuration/net_camera.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt diff --git a/en/_sources/source/5_advanced_guide/configuration/predefined_presets.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/configuration/predefined_presets.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt diff --git a/en/_sources/source/5_advanced_guide/multi_camera/gmsl_camera.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/multi_camera/gmsl_camera.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md.txt diff --git a/en/_sources/source/5_advanced_guide/multi_camera/multi_camera.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/multi_camera/multi_camera.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.md.txt diff --git a/en/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.md.txt diff --git a/en/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt diff --git a/en/_sources/source/5_advanced_guide/performance/efficient_intra_process_communication.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/performance/efficient_intra_process_communication.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md.txt diff --git a/en/_sources/source/5_advanced_guide/performance/fastdds_tuning.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/performance/fastdds_tuning.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.md.txt diff --git a/en/_sources/source/5_advanced_guide/performance/lower_cpu_usage.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.md.txt similarity index 100% rename from en/_sources/source/5_advanced_guide/performance/lower_cpu_usage.md.txt rename to en/_sources/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.md.txt diff --git a/en/_sources/source/6_benchmark/benchmark.rst.txt b/en/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt similarity index 100% rename from en/_sources/source/6_benchmark/benchmark.rst.txt rename to en/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt diff --git a/en/_sources/source/6_benchmark/benchmark_data.md.txt b/en/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt similarity index 100% rename from en/_sources/source/6_benchmark/benchmark_data.md.txt rename to en/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt diff --git a/en/_sources/source/6_benchmark/benchmark_usage.md.txt b/en/_sources/source/camera_devices/6_benchmark/benchmark_usage.md.txt similarity index 100% rename from en/_sources/source/6_benchmark/benchmark_usage.md.txt rename to en/_sources/source/camera_devices/6_benchmark/benchmark_usage.md.txt diff --git a/en/_sources/source/6_benchmark/introduction.md.txt b/en/_sources/source/camera_devices/6_benchmark/introduction.md.txt similarity index 100% rename from en/_sources/source/6_benchmark/introduction.md.txt rename to en/_sources/source/camera_devices/6_benchmark/introduction.md.txt diff --git a/en/_sources/source/6_benchmark/othertools.md.txt b/en/_sources/source/camera_devices/6_benchmark/othertools.md.txt similarity index 100% rename from en/_sources/source/6_benchmark/othertools.md.txt rename to en/_sources/source/camera_devices/6_benchmark/othertools.md.txt diff --git a/en/_sources/source/7_developer_guide/building_a_Debian_Package.md.txt b/en/_sources/source/camera_devices/7_developer_guide/building_a_Debian_Package.md.txt similarity index 100% rename from en/_sources/source/7_developer_guide/building_a_Debian_Package.md.txt rename to en/_sources/source/camera_devices/7_developer_guide/building_a_Debian_Package.md.txt diff --git a/en/_sources/source/7_developer_guide/developer_guide.rst.txt b/en/_sources/source/camera_devices/7_developer_guide/developer_guide.rst.txt similarity index 100% rename from en/_sources/source/7_developer_guide/developer_guide.rst.txt rename to en/_sources/source/camera_devices/7_developer_guide/developer_guide.rst.txt diff --git a/en/_sources/source/7_developer_guide/migration_guide.md.txt b/en/_sources/source/camera_devices/7_developer_guide/migration_guide.md.txt similarity index 100% rename from en/_sources/source/7_developer_guide/migration_guide.md.txt rename to en/_sources/source/camera_devices/7_developer_guide/migration_guide.md.txt diff --git a/en/_sources/source/8_FAQ/FAQ.md.txt b/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt similarity index 86% rename from en/_sources/source/8_FAQ/FAQ.md.txt rename to en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt index b7c04c1c..acaafb81 100644 --- a/en/_sources/source/8_FAQ/FAQ.md.txt +++ b/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt @@ -62,3 +62,16 @@ Multi-camera systems place high demands on USB bandwidth and device initializati When invoking stream control services (such as `set_streams_enable`, `toggle_depth`, and `toggle_color`), avoid triggering multiple service calls at the same time. Instead, introduce a reasonable interval between operations (e.g., **20 ms**) to ensure reliable stream state transitions. Following these timing control guidelines can significantly improve the stability of multi-camera systems during startup and runtime, reducing errors and unexpected behavior. +### femto bolt depth stream no data + +This module depends on the OpenGL library at runtime. If OpenGL is not installed or the graphics driver is incomplete, the depth stream may output no data. Please make sure to install the necessary OpenGL libraries first (Ubuntu example below): + +```bash + sudo apt update && sudo apt install -y mesa-utils libgl1-mesa-glx libglu1-mesa +``` + + After installation, you can check whether OpenGL is available through the following command: + +```bash + glxinfo -B +``` diff --git a/en/_sources/source/camera_devices/index.rst.txt b/en/_sources/source/camera_devices/index.rst.txt new file mode 100644 index 00000000..7f738071 --- /dev/null +++ b/en/_sources/source/camera_devices/index.rst.txt @@ -0,0 +1,16 @@ +Camera Devices +======================================= + +.. toctree:: + :maxdepth: 3 + :numbered: + + 1_overview/overview.rst + 2_installation/installation.rst + 3_quickstarts/quickstarts.rst + 4_application_guide/application_guide.rst + 5_advanced_guide/advanced_guide.rst + 6_benchmark/benchmark.rst + 7_developer_guide/developer_guide.rst + 8_FAQ/FAQ.rst + diff --git a/en/_sources/source/lidar_devices/index.rst.txt b/en/_sources/source/lidar_devices/index.rst.txt new file mode 100644 index 00000000..e5877489 --- /dev/null +++ b/en/_sources/source/lidar_devices/index.rst.txt @@ -0,0 +1,8 @@ +Lidar Devices +======================================= + +.. toctree:: + :maxdepth: 1 + :numbered: + + lidar.md diff --git a/en/_sources/source/lidar_devices/lidar.md.txt b/en/_sources/source/lidar_devices/lidar.md.txt new file mode 100644 index 00000000..1c587504 --- /dev/null +++ b/en/_sources/source/lidar_devices/lidar.md.txt @@ -0,0 +1,208 @@ +This ROS2 driver supports your use of Orbbec single-line/multi-line LiDAR. This document provides installation instructions## 4. IMU Data + +## Installation + +### Prerequisites + +Before using the OrbbecSDK ROS2 LiDAR driver, please ensure that the following dependencies are installed on your system: + +- **ROS2**: A valid installation of ROS2 (Humble, Jazzy, or other supported distributions). + - If you need help, please refer to the [ROS2 Installation Guide](https://docs.ros.org/en/foxy/Installation.html). + +### Install deb Dependencies + +```bash +# assume you have sourced ROS environment, same blow +sudo apt install libgflags-dev nlohmann-json3-dev \ +ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ +ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ +ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \ +ros-$ROS_DISTRO-backward-ros libdw-dev +``` + +### Install udev Rules + +```bash +cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts +sudo bash install_udev_rules.sh +sudo udevadm control --reload-rules && sudo udevadm trigger +``` + +### Build the Package + +```bash +cd ~/ros2_ws/ +# Build release version, default is Debug +colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release +``` + +### Launch the LiDAR Node + +* First terminal + +```bash +. ./install/setup.bash +ros2 launch orbbec_camera lidar.launch.py +``` + +* Second terminal + +```bash +. ./install/setup.bash +rviz2 +``` + +1. Open Rviz2. +2. Add a `PointCloud2` or `LaserScan` display. +3. For `PointCloud2`, select the `/lidar/cloud/points` topic; for `LaserScan`, select the `/lidar/scan/points` topic. +4. Set the `Fixed Frame` to `lidar_lidar_frame` to properly align the data. + +* `PointCloud2` visualization example: + +![module in rviz2](./docs/images/lidar0.jpg) + +* `LaserScan` visualization example: + +![module in rviz2](./docs/images/lidar1.png) + +## Usage + +### Running the Driver + +To start the driver, launch the provided ROS2 launch file: + +```bash +source install/setup.bash +# Launch the driver with point cloud data +ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT +# Launch the driver with sphere point cloud data +ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT +# Launch the driver with laser scan data +ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SCAN +# Launch the driver with IMU enabled +ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz +# Launch the driver with both point cloud and IMU data +ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT enable_imu:=true imu_rate:=100hz +``` + +This command will start the node that interfaces with the Orbbec LiDAR device. Please ensure that the LiDAR hardware is properly connected before running this command. + +### Get Device Information for Connected LiDARs + +```bash +ros2 run orbbec_camera list_devices_node +``` + +This command will list the connected LiDAR devices and display their respective IP addresses and ports. You can use this information to configure the driver to connect to specific devices. + +### Check Which Configurations the LiDAR Supports + +```bash +ros2 run orbbec_camera list_camera_profile_mode_node +``` + +### Parameters and Configuration + +The `lidar.launch.py` file contains default parameters for the driver. You can customize these settings by modifying the launch file or creating a custom configuration file. Key parameters include: + +- **device_type**: The type of device to launch. Optional values: `lidar`, `camera`. Setting this parameter to `lidar` launches the LiDAR device, setting it to `camera` launches the camera device. +- **camera_name**: Launch node namespace. +- **device_num**: Number of devices. This must be filled if you need to launch multiple devices. +- **upgrade_firmware**: Firmware upgrade function. The input parameter is the firmware path. +- **connection_delay**: Delay time (in milliseconds) for reopening the device. Immediately reopening the device during hot-plugging may cause firmware crashes. +- **publish_tf**: Enable TF publishing. +- **tf_publish_rate**: TF publishing frequency. +- **lidar_format**: Data format for the LiDAR. Optional values: `LIDAR_POINT`, `LIDAR_SPHERE_POINT`, `LIDAR_SCAN` +- **lidar_rate**: Scan rate of the LiDAR. +- **publish_n_pkts**: Number of frames to accumulate before publishing merged point cloud. Range: 1-12000. Only effective when lidar_format is `LIDAR_POINT` or `LIDAR_SPHERE_POINT`, used to merge specified number of frames before publishing. Default value: `1` +- **enable_scan_to_point**: Enable conversion of scan data to point cloud data, publishing PointCloud2 data type topics. +- **repetitive_scan_mode**: Repetitive scan mode parameter. +- **filter_level**: Add filter level parameter. +- **vertical_fov**: Vertical angle parameter. +- **min_angle**: Minimum angle of the LiDAR scan range in degrees (e.g., `-135.0`). Default value: `-135.0`. +- **max_angle**: Maximum angle of the LiDAR scan range in degrees (e.g., `135.0`). Default value: `135.0`. +- **min_range**: Minimum distance the LiDAR can measure in meters. Default value: `0.05`. +- **max_range**: Maximum distance the LiDAR can measure in meters. Default value: `30.0`. +- **echo_mode**: Echo mode of the LiDAR. Optional values: `Last Echo`, `First Echo` +- **point_cloud_qos**: ROS 2 message Quality of Service (QoS) settings. Possible values include `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, and `SENSOR_DATA`, and are case-insensitive. These values correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA` respectively. +- **enumerate_net_device**: Enable automatic enumeration of network devices. +- **net_device_ip**: IP address of the network device. +- **net_device_port**: Port number on the network side. +- **log_level**: SDK log level, default value is `none`, optional values are `debug`, `info`, `warn`, `error`, `fatal` +- **time_domain**: Timestamp type of the device. Optional values are `device`, `global`, `system` +- **config_file_path**: Path to the YAML configuration file. Default value is "". If no configuration file is specified, default parameters from the launch file will be used. +- **enable_heartbeat**: Enable heartbeat function, default is `false`. If set to `true`, the camera node will send heartbeat signals to the firmware; this should also be set to `true` if hardware logging is required. +- **enable_imu**: Enable IMU (accelerometer + gyroscope) and output unified IMU topic data. +- **imu_rate**: Unified frequency of the IMU (both accelerometer and gyroscope). +- **accel_range**: Range of the accelerometer. +- **gyro_range**: Range of the gyroscope. +- **linear_accel_cov**: Linear acceleration covariance value, default is `0.0001`. +- **angular_vel_cov**: Angular velocity covariance value, default is `0.0001`. + +## Point Cloud Data Details + +### Point Cloud Format + +PointCloud2 (PointXYZITO) point cloud format is as follows: + +``` +float32 x # X axis, unit: meters +float32 y # Y axis, unit: meters +float32 z # Z axis, unit: meters +uint8 intensity # LiDAR intensity +uint8 tag # LiDAR tag +uint32 offset_time # Point cloud offset relative to topic time, unit nanoseconds +``` + +### Point Cloud Aggregation Functionality + +The `publish_n_pkts` parameter enables point cloud aggregation functionality, which allows the LiDAR to accumulate a specified number of frames before publishing, then merge these frames into a larger point cloud data package for publishing. + +#### Features: + +- **Parameter Range**: 1-12000 frames +- **Applicable Formats**: Only effective when lidar format is `LIDAR_POINT` or `LIDAR_SPHERE_POINT` +- **Default Value**: 1 (no aggregation, each frame published individually) +- **Purpose**: Improve point cloud density, suitable for applications requiring denser point cloud data + +#### Usage Examples: + +```bash +# Aggregate 10 frames before publishing +ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT publish_n_pkts:=10 + +# Aggregate 100 frames before publishing +ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT publish_n_pkts:=100 +``` + +**Note**: Increasing the `publish_n_pkts` value will improve point cloud density but will also increase latency and memory usage. Please adjust according to actual application requirements. + +## IMU Data + +### IMU Topics + +When IMU is enabled, the following topics will be published: + +- **`/lidar/imu/sample`**: Unified IMU topic containing synchronized accelerometer and gyroscope data in `sensor_msgs/Imu` format. +- **`/lidar/lidar_to_imu`**: Transform from LiDAR frame to IMU frame. + +### Using IMU Data + +To enable IMU data collection: + +```bash +# Launch with IMU enabled +ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz + +# Check IMU topics +ros2 topic list | grep imu + +# View IMU data +ros2 topic echo /lidar/imu/sample +``` + +The IMU data includes: + +- **linear_acceleration**: 3D acceleration data (x, y, z) in m/s² +- **angular_velocity**: 3D angular velocity data (x, y, z) in rad/s +- **orientation**: Quaternion orientation (not provided by hardware, set to zero) diff --git a/en/_static/Default_Flowchart.png b/en/_static/Default_Flowchart.png deleted file mode 100644 index 3190cc1e..00000000 Binary files a/en/_static/Default_Flowchart.png and /dev/null differ diff --git a/en/_static/Soft_Architecture.png b/en/_static/Soft_Architecture.png deleted file mode 100644 index 91ad16c8..00000000 Binary files a/en/_static/Soft_Architecture.png and /dev/null differ diff --git a/en/_static/Standard_Flowchart.png b/en/_static/Standard_Flowchart.png deleted file mode 100644 index 9e8b397d..00000000 Binary files a/en/_static/Standard_Flowchart.png and /dev/null differ diff --git a/en/_static/Win_Config_image1.png b/en/_static/Win_Config_image1.png deleted file mode 100644 index a6842a40..00000000 Binary files a/en/_static/Win_Config_image1.png and /dev/null differ diff --git a/en/_static/Win_Config_image10.png b/en/_static/Win_Config_image10.png deleted file mode 100644 index c1a1100e..00000000 Binary files a/en/_static/Win_Config_image10.png and /dev/null differ diff --git a/en/_static/Win_Config_image11.png b/en/_static/Win_Config_image11.png deleted file mode 100644 index 3d4321ab..00000000 Binary files a/en/_static/Win_Config_image11.png and /dev/null differ diff --git a/en/_static/Win_Config_image2.png b/en/_static/Win_Config_image2.png deleted file mode 100644 index 02a5d571..00000000 Binary files a/en/_static/Win_Config_image2.png and /dev/null differ diff --git a/en/_static/Win_Config_image3.png b/en/_static/Win_Config_image3.png deleted file mode 100644 index 3166272a..00000000 Binary files a/en/_static/Win_Config_image3.png and /dev/null differ diff --git a/en/_static/Win_Config_image4.png b/en/_static/Win_Config_image4.png deleted file mode 100644 index 507e1c0b..00000000 Binary files a/en/_static/Win_Config_image4.png and /dev/null differ diff --git a/en/_static/Win_Config_image5.png b/en/_static/Win_Config_image5.png deleted file mode 100644 index 9fa51c50..00000000 Binary files a/en/_static/Win_Config_image5.png and /dev/null differ diff --git a/en/_static/Win_Config_image6.png b/en/_static/Win_Config_image6.png deleted file mode 100644 index 8c6d0c0c..00000000 Binary files a/en/_static/Win_Config_image6.png and /dev/null differ diff --git a/en/_static/Win_Config_image7.png b/en/_static/Win_Config_image7.png deleted file mode 100644 index 831897c8..00000000 Binary files a/en/_static/Win_Config_image7.png and /dev/null differ diff --git a/en/_static/Win_Config_image8.png b/en/_static/Win_Config_image8.png deleted file mode 100644 index b0a53b58..00000000 Binary files a/en/_static/Win_Config_image8.png and /dev/null differ diff --git a/en/_static/Win_Config_image9.png b/en/_static/Win_Config_image9.png deleted file mode 100644 index 0551e619..00000000 Binary files a/en/_static/Win_Config_image9.png and /dev/null differ diff --git a/en/_static/align_depth_color/image3.png b/en/_static/align_depth_color/image3.png deleted file mode 100644 index 58322895..00000000 Binary files a/en/_static/align_depth_color/image3.png and /dev/null differ diff --git a/en/_static/align_depth_color/image4.jpg b/en/_static/align_depth_color/image4.jpg deleted file mode 100644 index b204c845..00000000 Binary files a/en/_static/align_depth_color/image4.jpg and /dev/null differ diff --git a/en/_static/application_guide/image0.png b/en/_static/application_guide/image0.png deleted file mode 100644 index 2a357d45..00000000 Binary files a/en/_static/application_guide/image0.png and /dev/null differ diff --git a/en/_static/application_guide/image1.png b/en/_static/application_guide/image1.png deleted file mode 100644 index ce16c090..00000000 Binary files a/en/_static/application_guide/image1.png and /dev/null differ diff --git a/en/_static/application_guide/image2.png b/en/_static/application_guide/image2.png deleted file mode 100644 index 5fe8aa95..00000000 Binary files a/en/_static/application_guide/image2.png and /dev/null differ diff --git a/en/_static/application_guide/image3.png b/en/_static/application_guide/image3.png deleted file mode 100644 index 1e419f84..00000000 Binary files a/en/_static/application_guide/image3.png and /dev/null differ diff --git a/en/_static/application_guide/image4.png b/en/_static/application_guide/image4.png deleted file mode 100644 index 2ea5a88b..00000000 Binary files a/en/_static/application_guide/image4.png and /dev/null differ diff --git a/en/_static/application_guide/image5.png b/en/_static/application_guide/image5.png deleted file mode 100644 index 42e2129c..00000000 Binary files a/en/_static/application_guide/image5.png and /dev/null differ diff --git a/en/_static/benchmark_images/common_benchmark.png b/en/_static/benchmark_images/common_benchmark.png deleted file mode 100644 index 25a3d6d7..00000000 Binary files a/en/_static/benchmark_images/common_benchmark.png and /dev/null differ diff --git a/en/_static/benchmark_images/common_benchmark_ros1.png b/en/_static/benchmark_images/common_benchmark_ros1.png deleted file mode 100644 index c2d1754c..00000000 Binary files a/en/_static/benchmark_images/common_benchmark_ros1.png and /dev/null differ diff --git a/en/_static/benchmark_images/common_benchmark_ros2.png b/en/_static/benchmark_images/common_benchmark_ros2.png deleted file mode 100644 index 1a28b4d8..00000000 Binary files a/en/_static/benchmark_images/common_benchmark_ros2.png and /dev/null differ diff --git a/en/_static/benchmark_images/service_benchmark.png b/en/_static/benchmark_images/service_benchmark.png deleted file mode 100644 index 604c6977..00000000 Binary files a/en/_static/benchmark_images/service_benchmark.png and /dev/null differ diff --git a/en/_static/disparity_search_offset/search_offset0.png b/en/_static/disparity_search_offset/search_offset0.png deleted file mode 100644 index 27237215..00000000 Binary files a/en/_static/disparity_search_offset/search_offset0.png and /dev/null differ diff --git a/en/_static/interleave_ae_mode/interleave_ae0.jpeg b/en/_static/interleave_ae_mode/interleave_ae0.jpeg deleted file mode 100644 index 7655e93f..00000000 Binary files a/en/_static/interleave_ae_mode/interleave_ae0.jpeg and /dev/null differ diff --git a/en/_static/interleave_ae_mode/interleave_ae1.jpeg b/en/_static/interleave_ae_mode/interleave_ae1.jpeg deleted file mode 100644 index ac4a770d..00000000 Binary files a/en/_static/interleave_ae_mode/interleave_ae1.jpeg and /dev/null differ diff --git a/en/_static/multi_camera_synced/multi_camera_synced1.png b/en/_static/multi_camera_synced/multi_camera_synced1.png deleted file mode 100644 index 87f2cbd5..00000000 Binary files a/en/_static/multi_camera_synced/multi_camera_synced1.png and /dev/null differ diff --git a/en/_static/multi_camera_synced/multi_camera_synced2.png b/en/_static/multi_camera_synced/multi_camera_synced2.png deleted file mode 100644 index 9c883b87..00000000 Binary files a/en/_static/multi_camera_synced/multi_camera_synced2.png and /dev/null differ diff --git a/en/_static/multi_sync.png b/en/_static/multi_sync.png deleted file mode 100644 index dca03650..00000000 Binary files a/en/_static/multi_sync.png and /dev/null differ diff --git a/en/_static/orbbecviewer1.png b/en/_static/orbbecviewer1.png deleted file mode 100644 index a8bf4ac7..00000000 Binary files a/en/_static/orbbecviewer1.png and /dev/null differ diff --git a/en/_static/orbbecviewer2.png b/en/_static/orbbecviewer2.png deleted file mode 100644 index a6016d55..00000000 Binary files a/en/_static/orbbecviewer2.png and /dev/null differ diff --git a/en/_static/orbbecviewer3.png b/en/_static/orbbecviewer3.png deleted file mode 100644 index ea71cf76..00000000 Binary files a/en/_static/orbbecviewer3.png and /dev/null differ diff --git a/en/_static/orbbecviewer4.png b/en/_static/orbbecviewer4.png deleted file mode 100644 index 6b4cdca4..00000000 Binary files a/en/_static/orbbecviewer4.png and /dev/null differ diff --git a/en/_static/point_cloud/image5.jpg b/en/_static/point_cloud/image5.jpg deleted file mode 100644 index 03b65e9b..00000000 Binary files a/en/_static/point_cloud/image5.jpg and /dev/null differ diff --git a/en/_static/point_cloud/image6.jpg b/en/_static/point_cloud/image6.jpg deleted file mode 100644 index 29b1aad8..00000000 Binary files a/en/_static/point_cloud/image6.jpg and /dev/null differ diff --git a/en/_static/python_principle.png b/en/_static/python_principle.png deleted file mode 100644 index 6f68d755..00000000 Binary files a/en/_static/python_principle.png and /dev/null differ diff --git a/en/_static/quick_start.png b/en/_static/quick_start.png deleted file mode 100644 index 9d7946a9..00000000 Binary files a/en/_static/quick_start.png and /dev/null differ diff --git a/en/_static/quick_start_result.png b/en/_static/quick_start_result.png deleted file mode 100644 index d261ecb0..00000000 Binary files a/en/_static/quick_start_result.png and /dev/null differ diff --git a/en/align_depth_color/image3.png b/en/align_depth_color/image3.png deleted file mode 100644 index 58322895..00000000 Binary files a/en/align_depth_color/image3.png and /dev/null differ diff --git a/en/align_depth_color/image4.jpg b/en/align_depth_color/image4.jpg deleted file mode 100644 index b204c845..00000000 Binary files a/en/align_depth_color/image4.jpg and /dev/null differ diff --git a/en/application_guide/image0.png b/en/application_guide/image0.png deleted file mode 100644 index 2a357d45..00000000 Binary files a/en/application_guide/image0.png and /dev/null differ diff --git a/en/application_guide/image1.png b/en/application_guide/image1.png deleted file mode 100644 index ce16c090..00000000 Binary files a/en/application_guide/image1.png and /dev/null differ diff --git a/en/application_guide/image2.png b/en/application_guide/image2.png deleted file mode 100644 index 5fe8aa95..00000000 Binary files a/en/application_guide/image2.png and /dev/null differ diff --git a/en/application_guide/image3.png b/en/application_guide/image3.png deleted file mode 100644 index 1e419f84..00000000 Binary files a/en/application_guide/image3.png and /dev/null differ diff --git a/en/application_guide/image4.png b/en/application_guide/image4.png deleted file mode 100644 index 2ea5a88b..00000000 Binary files a/en/application_guide/image4.png and /dev/null differ diff --git a/en/application_guide/image5.png b/en/application_guide/image5.png deleted file mode 100644 index 42e2129c..00000000 Binary files a/en/application_guide/image5.png and /dev/null differ diff --git a/en/benchmark_images/common_benchmark.png b/en/benchmark_images/common_benchmark.png deleted file mode 100644 index 25a3d6d7..00000000 Binary files a/en/benchmark_images/common_benchmark.png and /dev/null differ diff --git a/en/benchmark_images/common_benchmark_ros1.png b/en/benchmark_images/common_benchmark_ros1.png deleted file mode 100644 index c2d1754c..00000000 Binary files a/en/benchmark_images/common_benchmark_ros1.png and /dev/null differ diff --git a/en/benchmark_images/common_benchmark_ros2.png b/en/benchmark_images/common_benchmark_ros2.png deleted file mode 100644 index 1a28b4d8..00000000 Binary files a/en/benchmark_images/common_benchmark_ros2.png and /dev/null differ diff --git a/en/benchmark_images/service_benchmark.png b/en/benchmark_images/service_benchmark.png deleted file mode 100644 index 604c6977..00000000 Binary files a/en/benchmark_images/service_benchmark.png and /dev/null differ diff --git a/en/disparity_search_offset/search_offset0.png b/en/disparity_search_offset/search_offset0.png deleted file mode 100644 index 27237215..00000000 Binary files a/en/disparity_search_offset/search_offset0.png and /dev/null differ diff --git a/en/genindex.html b/en/genindex.html index 5dfd6f7a..749348b9 100644 --- a/en/genindex.html +++ b/en/genindex.html @@ -42,310 +42,331 @@