diff --git a/docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md b/docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md index 74c26f44..2054ff55 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md +++ b/docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md @@ -38,7 +38,7 @@ ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=false net_d **Multi Net camera** -For [multi_net_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py) as an example: +For [multi_net_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_net_camera/multi_net_camera.launch.py) as an example: ```bash ros2 launch orbbec_camera multi_net_camera.launch.py diff --git a/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md b/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md index 69893f05..568e42f0 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md +++ b/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md @@ -1,18 +1,18 @@ -# GMSL_camera +# GMSL Multi-Camera Synchronization -> This section describes how to use GMSL cameras in OrbbecSDK_ROS2. +> This section describes how to synchronize multiple GMSL-connected Gemini 330 Series cameras in OrbbecSDK_ROS2. -You can find example usage code in the [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples). +The example is available in [gmsl_multi_camera_sync](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/gmsl_multi_camera_sync). -## Single GMSL camera +## Configure device file permissions -The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB. ROS2 v2.10.1 supports Gemini 335Lg, Gemini 338Lg, Gemini 345Lg, and Gemini 305g. +Before starting the cameras, grant access to the camera synchronization device: ```bash -ros2 launch orbbec_camera gemini_330_gmsl.launch.py +sudo chmod 777 /dev/camsync ``` -## Multi GMSL camera +## Configure the cameras To get the `usb_port` of the GMSL camera, plug in the camera and run the following command in the terminal: @@ -20,38 +20,26 @@ To get the `usb_port` of the GMSL camera, plug in the camera and run the followi ros2 run orbbec_camera list_devices_node ``` -For example, the obtained gmsl camera `usb_port`: `gmsl2-1` +For example, a reported GMSL camera `usb_port` may be `gmsl2-1`. -Go to the [multi_gmsl_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py) file and change the `usb_port`. +Update the `usb_port` values in [multi_gmsl_camera_synced.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_multi_camera_sync/multi_gmsl_camera_synced.launch.py) to match the GMSL links reported by your system. The example uses the standard `gemini_330_series.launch.py` for both cameras. -```bash -ros2 launch orbbec_camera multi_gmsl_camera.launch.py -``` +## Synchronization setup -> Note: By default, multi_gmsl_camera.launch.py only starts color and depth. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) to modify them. - -Use `gemini_330_gmsl.launch.py` for Gemini 335Lg / 338Lg, `gemini_301_series.launch.py` for Gemini 305g, and `gemini345_lg.launch.py` for Gemini 345Lg when composing a multi-camera launch. - -## Multi GMSL camera synced - -First, please see how to use [multi_camera_synced](./multi_camera_synced.md). - -In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the `primary` mode. Each GMSL camera is `secondary`. +GMSL multi-camera synchronization does not require Multi-Camera Sync Hub Pro. Both cameras use `secondary_synced` mode. The receiving camera starts first; the camera that enables the host-side GMSL trigger starts two seconds later. **Additional Parameter Settings** -* `gmsl_trigger_fps` : set hardware soc trigger source frame rate. -* `enable_gmsl_trigger` : enable hardware soc trigger. +* `gmsl_trigger_fps`: Sets the hardware SoC trigger source frame rate. +* `enable_gmsl_trigger`: Enables the hardware SoC trigger. Enable it on only one camera in the group. **Run the launch** -Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py) - ```bash ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py ``` -> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and depth. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) and [camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml) to modify them. +> Note: Both cameras load [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml), which enables color and depth by default. Modify that file to configure other streams. ## Usage Limitations of GMSL Cameras diff --git a/docs/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md b/docs/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md index 35ecf0f0..66c5b353 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md +++ b/docs/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md @@ -26,7 +26,21 @@ Further details on efficient intra-process communication can be found [here](htt Load other component nodes (consumers of the wrapper topics) in the same way. -**Using a launch file** +**Using the shared multi-camera container example** + +The [multi_camera_shared_container](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_shared_container) example creates one multithreaded component container and loads two Gemini 330 Series camera components into it. Update the two `usb_port` values in `multi_camera_shared_container.launch.py`, then run: + +```bash +ros2 launch orbbec_camera multi_camera_shared_container.launch.py +``` + +The example passes the following arguments to both camera includes: + +* `attach_to_shared_component_container=true`: Loads the camera component into an existing container instead of creating another container. +* `component_container_name=shared_orbbec_container`: Selects the target container. The value must match the name of the container created by the parent launch file. +* `use_intra_process_comms=true`: Enables intra-process communication for the camera component. + +**Using the single-camera intra-process demonstration launch** ```bash ros2 launch orbbec_camera gemini_intra_process_demo_launch.py diff --git a/docs/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.md b/docs/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.md index 5f101eb9..f9d66bfa 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.md @@ -38,7 +38,7 @@ ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=false net_d **多个网络相机** -以 [multi_net_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py) 为例： +以 [multi_net_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_net_camera/multi_net_camera.launch.py) 为例： ```bash ros2 launch orbbec_camera multi_net_camera.launch.py diff --git a/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md b/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md index 7587e103..1c40733e 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md @@ -1,18 +1,18 @@ -# GMSL 相机 +# GMSL 多相机同步 -> 本节介绍如何在 OrbbecSDK_ROS2 中使用 GMSL 相机。 +> 本节介绍如何在 OrbbecSDK_ROS2 中同步多台通过 GMSL 连接的 Gemini 330 系列相机。 -您可以在 [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples) 中找到示例使用代码。 +示例代码位于 [gmsl_multi_camera_sync](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/gmsl_multi_camera_sync)。 -## 单个 GMSL 相机 +## 配置设备文件权限 -GMSL 相机在 OrbbecSDK_ROS2 中的使用与通过 USB 的 Gemini 330 系列相机相同。ROS2 v2.10.1 支持 Gemini 335Lg、Gemini 338Lg、Gemini 345Lg 和 Gemini 305g。 +启动相机前，先为相机同步设备授予访问权限： ```bash -ros2 launch orbbec_camera gemini_330_gmsl.launch.py +sudo chmod 777 /dev/camsync ``` -## 多个 GMSL 相机 +## 配置相机 要获取 GMSL 相机的 `usb_port`，插入相机并在终端中运行以下命令： @@ -20,38 +20,26 @@ ros2 launch orbbec_camera gemini_330_gmsl.launch.py ros2 run orbbec_camera list_devices_node ``` -例如，获得的 gmsl 相机 `usb_port`：`gmsl2-1` +例如，系统报告的 GMSL 相机 `usb_port` 可能为 `gmsl2-1`。 -转到 [multi_gmsl_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py) 文件并更改 `usb_port`。 +根据系统报告的 GMSL 链路，修改 [multi_gmsl_camera_synced.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_multi_camera_sync/multi_gmsl_camera_synced.launch.py) 中的 `usb_port`。该示例为两台相机复用标准的 `gemini_330_series.launch.py`。 -```bash -ros2 launch orbbec_camera multi_gmsl_camera.launch.py -``` +## 同步配置 -> 注意：默认情况下，multi_gmsl_camera.launch.py 仅启动 color 和 depth。如果您想启动其他传感器，请转到 [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) 进行修改。 - -组合多相机启动时，Gemini 335Lg / 338Lg 使用 `gemini_330_gmsl.launch.py`，Gemini 305g 使用 `gemini_301_series.launch.py`，Gemini 345Lg 使用 `gemini345_lg.launch.py`。 - -## 多个 GMSL 相机同步 - -首先，请查看如何使用 [multi_camera_synced](./multi_camera_synced.md)。 - -此外，GMSL 多相机同步不需要 Multi-Camera Sync Hub Pro，因此无需设置 `primary` 模式。每个 GMSL 相机都是 `secondary`。 +GMSL 多相机同步不需要 Multi-Camera Sync Hub Pro。两台相机均使用 `secondary_synced` 模式。接收触发信号的相机先启动，启用主机端 GMSL 触发的相机在两秒后启动。 **额外的参数设置** -* `gmsl_trigger_fps`：设置硬件 soc 触发源帧率。 -* `enable_gmsl_trigger`：启用硬件 soc 触发。 +* `gmsl_trigger_fps`：设置硬件 SoC 触发源帧率。 +* `enable_gmsl_trigger`：启用硬件 SoC 触发，同一组相机中仅在一台相机上启用。 **运行启动文件** -请参考 [multi_gmsl_camera_synced.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py) 中的配置。 - ```bash ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py ``` -> 注意：默认情况下，multi_gmsl_camera_synced.launch.py 仅启动 color 和 depth。如果您想启动其他传感器，请转到 [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) 进行修改。 +> 注意：两台相机均加载 [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml)，默认启用 color 和 depth。如需配置其他数据流，请修改该文件。 ## GMSL 相机的使用限制 diff --git a/docs/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md b/docs/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md index c42a21e2..a9d52888 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md @@ -26,7 +26,21 @@ 以相同方式加载其他组件节点（封装器话题的消费者）。 -**使用启动文件** +**使用多相机共享容器示例** + +[multi_camera_shared_container](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_shared_container) 示例创建一个多线程组件容器，并将两个 Gemini 330 系列相机组件加载到该容器中。修改 `multi_camera_shared_container.launch.py` 中两台相机的 `usb_port` 后，运行： + +```bash +ros2 launch orbbec_camera multi_camera_shared_container.launch.py +``` + +该示例向两个相机 include 传递以下参数： + +* `attach_to_shared_component_container=true`：将相机组件加载到已有容器中，而不是新建容器。 +* `component_container_name=shared_orbbec_container`：指定目标容器，其值必须与父 launch 文件创建的容器名称一致。 +* `use_intra_process_comms=true`：为相机组件启用进程内通信。 + +**使用单相机进程内通信演示 launch** ```bash ros2 launch orbbec_camera gemini_intra_process_demo_launch.py