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<li><a class="reference internal" href="#">在 ROS 2 中对齐深度到彩色</a><ul>
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<li><a class="reference internal" href="#id1">对齐和查看深度和彩色图像的命令</a></li>
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<li><a class="reference internal" href="#rviz2">在 RViz2 中选择话题</a></li>
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<li><a class="reference internal" href="#id2">深度到彩色叠加示例</a></li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt" rel="nofollow"> 查看页面源码</a>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros-2">
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<h1>在 ROS 2 中对齐深度到彩色<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
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<p>本节说明如何使用 ROS 2 将深度图像与彩色图像对齐以创建叠加图像。这对于需要来自不同传感器模态的同步视觉信息的应用特别有用。</p>
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<section id="id1">
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<h2>对齐和查看深度和彩色图像的命令<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
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<ol>
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<li><p><strong>基本深度到彩色对齐:</strong></p>
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<p>要简单地将深度图像对齐到彩色图像,请使用以下命令:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span>
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</pre></div>
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</div>
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<p>此命令激活深度配准功能,但不打开查看器。</p>
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</li>
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<li><p><strong>查看深度到彩色叠加:</strong></p>
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<p>如果您希望查看深度到彩色叠加,需要使用以下命令启用查看器:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>enable_d2c_viewer:<span class="o">=</span><span class="nb">true</span>
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</pre></div>
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</div>
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<p>这将启动带有深度到彩色配准的相机节点并打开查看器以显示叠加图像。</p>
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</li>
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</ol>
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</section>
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<section id="rviz2">
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<h2>在 RViz2 中选择话题<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h2>
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<p>要在 RViz2 中可视化对齐的图像:</p>
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<ol>
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<li><p>运行上述命令之一后启动 RViz2。</p></li>
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<li><p>选择深度到彩色叠加图像的话题。话题选择示例如下所示:</p>
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<p><img alt="深度到彩色叠加的话题选择" src="../../../../_images/image31.png" /></p>
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</li>
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</ol>
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</section>
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<section id="id2">
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<h2>深度到彩色叠加示例<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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<p>在 RViz2 中选择适当的话题后,您将能够看到深度到彩色叠加图像。它可能看起来像这样:</p>
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<p><img alt="深度到彩色叠加图像" src="../../../../_images/image4.jpg" /></p>
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<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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<h1>深度 NFOV 和 WFOV 模式配置<a class="headerlink" href="#nfov-wfov" title="Link to this heading"></a></h1>
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<p>对于 Femto Mega 和 Femto Bolt 设备,NFOV 和 WFOV 模式通过在启动文件中配置深度和 IR 的分辨率来实现。</p>
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<p>在启动文件中,depth_width、depth_height、ir_width、ir_height 分别表示深度的分辨率和 IR 的分辨率。</p>
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<p>IR 的帧率和分辨率必须与深度保持一致。不同模式与分辨率的对应关系如下:</p>
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<ul class="simple">
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<li><p>NFOV unbinned:640 x 576</p></li>
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<li><p>NFOV binned:320 x 288</p></li>
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<li><p>WFOV unbinned:1024 x 1024</p></li>
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<li><p>WFOV binned:512 x 512</p></li>
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<li class="breadcrumb-item active">深度工作模式切换</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.md.txt" rel="nofollow"> 查看页面源码</a>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
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<h1>深度工作模式切换<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<p>Orbbec SDK ROS 2 支持深度工作模式切换。Gemini 2、Gemini 2 L 和 Femto 以及 Femto Bolt 相机支持深度工作模式切换。</p>
|
||||
<ul class="simple">
|
||||
<li><p>在启动相机之前,可以为相应的 xxx.launch.py 文件的支持配置深度工作模式(depth_work_mode)。</p></li>
|
||||
<li><p>Gemini 2、Gemini 2 L 和 Gemini 2 XL 相机支持深度工作模式切换。</p></li>
|
||||
<li><p>xxx.launch.py 的默认深度工作模式配置是相机的默认配置。如果需要修改,可以根据需要切换到相应的模式。</p></li>
|
||||
<li><p>具体相机深度工作模式支持类型可以在深度模式的注释中找到。</p></li>
|
||||
</ul>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 深度工作模式支持如下:</span>
|
||||
<span class="c1"># Unbinned Dense Default</span>
|
||||
<span class="c1"># Unbinned Sparse Default</span>
|
||||
<span class="c1"># Binned Sparse Default</span>
|
||||
<span class="c1"># Obstacle Avoidance</span>
|
||||
<span class="n">DeclareLaunchArgument</span><span class="p">(</span><span class="s1">'depth_work_mode'</span><span class="p">,</span> <span class="n">default_value</span><span class="o">=</span><span class="s1">''</span><span class="p">)</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p>查看深度工作模式:</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_depth_work_mode_node
|
||||
</pre></div>
|
||||
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|
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<ul class="simple">
|
||||
<li><p>示例:</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini2L.launch.py<span class="w"> </span>depth_work_mode:<span class="o">=</span><span class="s2">"Unbinned Dense Default"</span>
|
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<li><a class="reference internal" href="#">视差搜索偏移</a><ul>
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<li><a class="reference internal" href="#id2">功能介绍</a></li>
|
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<li><a class="reference internal" href="#id3">参数介绍</a></li>
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<li><a class="reference internal" href="#id4">运行启动文件</a></li>
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<li class="breadcrumb-item active">视差搜索偏移</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> 查看页面源码</a>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
|
||||
<h1>视差搜索偏移<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本节介绍如何在 Gemini330 系列相机中使用 disparity_search_offset 功能(相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>)。Disparity_search_offset 仅对深度流的 1280×720、1280×800 和 640×400 分辨率有效。</p>
|
||||
</div></blockquote>
|
||||
<section id="id2">
|
||||
<h2>功能介绍<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>视差搜索范围的定义:对于左图像中的任何像素 <em>(u_l, v)</em>,默认情况下,右图像中对应的视差搜索范围为 <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>,其中视差搜索长度为 256,最大整数视差为 255。如果将搜索的起点调整为 <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>,则偏移量定义为视差偏移。因此,我们的视差搜索范围配置包括视差搜索长度和搜索位置偏移(也可称为视差偏移)。</p>
|
||||
<p><img alt="深度点云可视化" src="../../../../_images/search_offset0.png" /></p>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2>参数介绍<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>disparity_search_offset 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code>:视差搜索长度,只能设置为 64、128 和 256。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_search_offset</span></code>:视差搜索偏移值,可以设置为 0 到 127。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">disparity_offset_config</span></code>:视差搜索偏移交错帧。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">offset_index0</span></code>:帧 0 视差搜索偏移值。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">offset_index1</span></code>:帧 1 视差搜索偏移值。</p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">视差范围模式</th>
|
||||
<th style="text-align: center;">视差搜索偏移</th>
|
||||
<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">64</td>
|
||||
<td style="text-align: center;">85</td>
|
||||
<td style="text-align: center;">Gemini 335L 388-406</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">64</td>
|
||||
<td style="text-align: center;">127</td>
|
||||
<td style="text-align: center;">Gemini 335L 302-317</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">视差范围模式</th>
|
||||
<th style="text-align: center;">视差搜索偏移</th>
|
||||
<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">128</td>
|
||||
<td style="text-align: center;">0</td>
|
||||
<td style="text-align: center;">Gemini 335 233-249<br />Gemini 335L 453-475</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">128</td>
|
||||
<td style="text-align: center;">45</td>
|
||||
<td style="text-align: center;">Gemini 335 172-184<br />Gemini 335L 334-349</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">128</td>
|
||||
<td style="text-align: center;">127</td>
|
||||
<td style="text-align: center;">Gemini 335 117-125<br />Gemini 335L 226-236</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: center;">视差范围模式</th>
|
||||
<th style="text-align: center;">视差搜索偏移</th>
|
||||
<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center;">256</td>
|
||||
<td style="text-align: center;">85</td>
|
||||
<td style="text-align: center;">Gemini 335L 169-178</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center;">256</td>
|
||||
<td style="text-align: center;">127</td>
|
||||
<td style="text-align: center;">Gemini 335L 151-158</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></section>
|
||||
<section id="id4">
|
||||
<h2>运行启动文件<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<p>设置 disparity_search_offset 参数,重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
|
||||
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|
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<li><a class="reference internal" href="#">在 Gemini330 系列相机中使用 interleave_ae</a><ul>
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<li><a class="reference internal" href="#id1">参数介绍</a></li>
|
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<li><a class="reference internal" href="#id2">运行启动文件</a></li>
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<li><a class="reference internal" href="#multi-camera-synced-interleave-ae">Multi_camera_synced + Interleave_ae</a></li>
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<li class="breadcrumb-item active">在 Gemini330 系列相机中使用 interleave_ae</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.md.txt" rel="nofollow"> 查看页面源码</a>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="gemini330-interleave-ae">
|
||||
<h1>在 Gemini330 系列相机中使用 interleave_ae<a class="headerlink" href="#gemini330-interleave-ae" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本节介绍如何在 Gemini 330 系列相机中使用 interleave_ae(相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>)</p>
|
||||
</div></blockquote>
|
||||
<section id="id1">
|
||||
<h2>参数介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
|
||||
<p>interleave_ae 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code>:设置激光或 hdr 交错。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code>:启用交错帧模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_skip_enable</span></code>:启用跳帧模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">interleave_skip_index</span></code>:设置为 0 跳过图案 ir,设置为 1 跳过泛光 ir。</p></li>
|
||||
</ul>
|
||||
<p><strong>interleave hdr</strong></p>
|
||||
<p>当 <code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">hdr</span></code> 且 <code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时,将启用 interleave hdr</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_laser_control</span></code>:帧 1 激光开关设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_depth_exposure</span></code>:帧 1 深度曝光值设置,非 AE 模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_depth_gain</span></code>:帧 1 深度增益值设置,非 AE 模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_ir_brightness</span></code>:帧 1 ir 增益值设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_ir_ae_max_exposure</span></code>:AE(自动曝光)中帧 1 ir 最大曝光值设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_laser_control</span></code>:帧 0 激光开关设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_depth_exposure</span></code>:帧 0 深度曝光值设置,非 AE 模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_depth_gain</span></code>:帧 0 深度增益值设置,非 AE 模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_ir_brightness</span></code>:帧 0 ir 增益值设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_ir_ae_max_exposure</span></code>:AE(自动曝光)中帧 0 ir 最大曝光值设置。</p></li>
|
||||
</ul>
|
||||
<p><strong>interleave laser</strong></p>
|
||||
<p>当 <code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">laser</span></code> 且 <code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时,将启用 interleave laser</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_laser_control</span></code>:帧 1 激光开关设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_depth_exposure</span></code>:帧 1 深度曝光值设置,非 AE 模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_depth_gain</span></code>:帧 1 深度增益值设置,非 AE 模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_ir_brightness</span></code>:帧 1 ir 增益值设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_ir_ae_max_exposure</span></code>:AE(自动曝光)中帧 1 ir 最大曝光值设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_laser_control</span></code>:帧 0 激光开关设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_depth_exposure</span></code>:帧 0 深度曝光值设置,非 AE 模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_depth_gain</span></code>:帧 0 深度增益值设置,非 AE 模式。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_ir_brightness</span></code>:帧 0 ir 增益值设置。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_ir_ae_max_exposure</span></code>:AE(自动曝光)中帧 0 ir 最大曝光值设置。</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id2">
|
||||
<h2>运行启动文件<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>设置 interleave_ae 参数,重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>示例可视化</strong></p>
|
||||
<p><img alt="深度点云可视化" src="../../../../_images/interleave_ae0.jpeg" /></p>
|
||||
<p><img alt="深度点云可视化" src="../../../../_images/interleave_ae1.jpeg" /></p>
|
||||
</section>
|
||||
<section id="multi-camera-synced-interleave-ae">
|
||||
<h2>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
|
||||
<p>请参考 <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> 和 <a class="reference external" href="#%E5%8F%82%E6%95%B0%E4%BB%8B%E7%BB%8D">参数介绍</a></p>
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<li><a class="reference internal" href="#">网络相机</a><ul>
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<li><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
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<li><a class="reference internal" href="#set-device-ip">set_device_ip 工具</a></li>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
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<h1>网络相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<blockquote>
|
||||
<div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用网络相机。目前仅支持 Femto_Mega、Gemini 335Le 和 Gemini 435Le 设备,其他网络设备将在不久的将来得到支持。</p>
|
||||
</div></blockquote>
|
||||
<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
|
||||
<section id="femto-mega-gemini-435le-gemini-335le">
|
||||
<h2>Femto Mega & Gemini 435Le & Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
|
||||
<p><strong>参数介绍</strong></p>
|
||||
<p>网络设备设置:<code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 true,将自动枚举网络设备。</p>
|
||||
<p>如果您不想自动枚举网络设备,可以将 <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 false,将 <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 设置为设备的 IP 地址,并将 <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> 设置为默认值 8090。</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code>:启用自动枚举网络设备。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code>:设置网络设备的 IP 地址。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code>:设置网络设备的端口。通常可以设置为 8090。</p></li>
|
||||
</ul>
|
||||
<p><strong>单个网络相机</strong></p>
|
||||
<blockquote>
|
||||
<div><p>如果您需要运行 Gemini 435Le/Gemini 335Le,只需在运行命令中将 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> 替换为 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py">gemini435_le.launch.py</a>/<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
|
||||
</div></blockquote>
|
||||
<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> 为例:</p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>自动枚举网络设备:</strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong>指定 IP 地址启动设备:</strong></p></li>
|
||||
</ul>
|
||||
<p>注意:<code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 需要更改为设备的 IP 地址,这里是 192.168.1.10</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>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span>net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>多个网络相机</strong></p>
|
||||
<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py">multi_net_camera.launch.py</a> 为例:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_net_camera.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="set-device-ip">
|
||||
<h2>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="Link to this heading"></a></h2>
|
||||
<p><strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置,包括在 DHCP 和静态 IP 之间切换,以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。</p>
|
||||
<blockquote>
|
||||
<div><p><strong>注意:<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>,如果设备断电或重启,<strong>不会重置</strong>。</p>
|
||||
</div></blockquote>
|
||||
<p><strong>示例用法</strong></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>set_device_ip<span class="w"> </span>--ros-args<span class="w"> </span><span class="se">\</span>
|
||||
-p<span class="w"> </span>old_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span><span class="se">\</span>
|
||||
-p<span class="w"> </span>dhcp:<span class="o">=</span><span class="nb">false</span><span class="w"> </span><span class="se">\</span>
|
||||
-p<span class="w"> </span>new_ip:<span class="o">=</span><span class="m">192</span>.168.1.11<span class="w"> </span><span class="se">\</span>
|
||||
-p<span class="w"> </span>mask:<span class="o">=</span><span class="m">255</span>.255.255.0<span class="w"> </span><span class="se">\</span>
|
||||
-p<span class="w"> </span>gateway:<span class="o">=</span><span class="m">192</span>.168.1.1
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>参数</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">old_ip</span></code></strong> – 设备的当前 IP 地址。</p></li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">dhcp</span></code></strong> – 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 使用 DHCP 或 <code class="docutils literal notranslate"><span class="pre">false</span></code> 使用静态 IP。</p></li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">new_ip</span></code></strong> – 禁用 DHCP 时要分配的静态 IP 地址。</p></li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">mask</span></code></strong> – 新 IP 的子网掩码。</p></li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">gateway</span></code></strong> – 新 IP 的网关地址。</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="ip">
|
||||
<h2>强制 IP 功能<a class="headerlink" href="#ip" title="Link to this heading"></a></h2>
|
||||
<p><strong>强制 IP</strong> 功能允许您为网络相机分配<strong>静态 IP 地址</strong>,覆盖 DHCP 设置。当连接多个网络相机时,这非常有用,您需要每个设备具有固定的 IP 以实现可靠的通信。</p>
|
||||
<blockquote>
|
||||
<div><p><strong>注意:<strong>如果设备断电或重启,强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。</p>
|
||||
</div></blockquote>
|
||||
<p><strong>参数</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_enable</span></code></strong> – 启用强制 IP 功能。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p></li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_mac</span></code></strong> – 连接多个相机时的目标设备 MAC 地址(例如 <code class="docutils literal notranslate"><span class="pre">"54:14:FD:06:07:DA"</span></code>)。您可以使用 <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> 查找每个设备的 MAC。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">""</span></code></p></li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_address</span></code></strong> – 要分配的静态 IP 地址。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p></li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_subnet_mask</span></code></strong> – 静态 IP 的子网掩码。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p></li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_gateway</span></code></strong> – 静态 IP 的网关地址。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p></li>
|
||||
</ul>
|
||||
<p><strong>示例用法</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><strong>为特定设备启用强制 IP:</strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span><span class="se">\</span>
|
||||
force_ip_enable:<span class="o">=</span><span class="nb">true</span><span class="w"> </span><span class="se">\</span>
|
||||
force_ip_mac:<span class="o">=</span><span class="m">54</span>:14:FD:06:07:DA<span class="w"> </span><span class="se">\</span>
|
||||
force_ip_address:<span class="o">=</span><span class="m">192</span>.168.1.50<span class="w"> </span><span class="se">\</span>
|
||||
force_ip_subnet_mask:<span class="o">=</span><span class="m">255</span>.255.255.0<span class="w"> </span><span class="se">\</span>
|
||||
force_ip_gateway:<span class="o">=</span><span class="m">192</span>.168.1.1<span class="w"> </span><span class="se">\</span>
|
||||
net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.50<span class="w"> </span><span class="se">\</span>
|
||||
net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
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|
||||
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|
||||
<footer>
|
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|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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<li><a class="reference internal" href="#">预定义预设</a></li>
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<li class="breadcrumb-item active">预定义预设</li>
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<a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt" rel="nofollow"> 查看页面源码</a>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
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||||
<h1>预定义预设<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>预设</th>
|
||||
<th>特点</th>
|
||||
<th>推荐使用场景</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>Default</td>
|
||||
<td>- 最佳视觉感知<br>- 在精度、填充率、微小物体等方面的整体性能良好</td>
|
||||
<td>- 通用场景<br>- 机器人应用</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Hand</td>
|
||||
<td>- 清晰的手部和手指边缘</td>
|
||||
<td>- 手势识别</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>High Accuracy</td>
|
||||
<td>- 高置信度深度<br>- 几乎无噪声深度值<br>- 填充率较低</td>
|
||||
<td>- 避障<br>- 物体扫描</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>High Density</td>
|
||||
<td>- 更高填充率<br>- 更多微小物体<br>- 可能存在噪声深度值</td>
|
||||
<td>- 物体识别<br>- 抓取和放置<br>- 前景和背景动画</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Medium Density</td>
|
||||
<td>- 填充率和精度的平衡性能<br>- 与 Default 相比:填充率较低,边缘质量更好</td>
|
||||
<td>- 通用场景和 Default 的替代方案</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Custom</td>
|
||||
<td>- 用户自定义预设<br>- 从上述预设派生,具有自定义修改,例如后处理管道的新配置、深度 AE 功能的修改平均强度设定点等</td>
|
||||
<td>- 通过使用自定义配置可获得比预定义预设更好的深度性能<br>- 适用于已建立的自定义配置</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>根据您的具体使用场景选择合适的预设名称,并将其设置为 <code class="docutils literal notranslate"><span class="pre">device_preset</span></code> 参数的值。</p>
|
||||
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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 2026年01月04日 01:12:35.
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Reference in New Issue
Block a user