From 45ee00cabb39da2a1749301beb74bc69bc8c6356 Mon Sep 17 00:00:00 2001 From: slz Date: Thu, 23 Jul 2026 10:08:23 +0800 Subject: [PATCH] docs: update migration guide and topic reference --- .../4_application_guide/topics.md | 28 ++++++++++++++++ .../7_developer_guide/migration_guide.md | 33 ++++++++----------- .../4_application_guide/topics.md | 28 ++++++++++++++++ .../7_developer_guide/migration_guide.md | 33 ++++++++----------- 4 files changed, 84 insertions(+), 38 deletions(-) diff --git a/docs/en/source/camera_devices/4_application_guide/topics.md b/docs/en/source/camera_devices/4_application_guide/topics.md index 2b9b7927..5f450754 100644 --- a/docs/en/source/camera_devices/4_application_guide/topics.md +++ b/docs/en/source/camera_devices/4_application_guide/topics.md @@ -23,6 +23,12 @@ These topics provide the raw image data and corresponding calibration informatio * Camera calibration data and metadata for the depth stream. * `/camera/depth/metadata` * Low-level metadata from the depth stream firmware. +* `/camera/depth/image_unaligned` + * Depth image before software alignment. + * **Condition:** Published when `depth_registration` is `true` and `align_mode` is `SW`; it is not published for hardware alignment. +* `/camera/confidence/image_raw` + * Confidence image generated by `EnhancedDepthFilter`, encoded as `mono8` or `mono16` according to the confidence frame format. + * **Condition:** Published when enhanced depth filtering succeeds and the topic has a subscriber. * `/camera/ir/image_raw` * Raw image data from the infrared (IR) stream. @@ -63,6 +69,28 @@ The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope d * Synchronized data stream containing both accelerometer and gyroscope data in a single message. * **Condition:** Published when `enable_sync_output_accel_gyro` is `true`. +* `/camera/accel/imu_info` + * Accelerometer calibration and noise characteristics. The type is `orbbec_camera_msgs/msg/IMUInfo`. + * **Condition:** Available with accelerometer output. + +* `/camera/gyro/imu_info` + * Gyroscope calibration and noise characteristics. The type is `orbbec_camera_msgs/msg/IMUInfo`. + * **Condition:** Available with gyroscope output. + +### Extrinsics Topics + +The following topics publish stream-to-stream extrinsics with type `orbbec_camera_msgs/msg/Extrinsics`: + +* `/camera/depth_to_ir` +* `/camera/depth_to_color` +* `/camera/depth_to_left_ir` +* `/camera/depth_to_right_ir` +* `/camera/depth_to_accel` +* `/camera/depth_to_gyro` +* `/camera/left_color_to_right_color` + +**Condition:** `enable_publish_extrinsic` must be `true`, and both streams represented by the selected topic must be enabled. Only topics supported by the connected device are published. + ### Device Status & Diagnostics * `/camera/device_status` diff --git a/docs/en/source/camera_devices/7_developer_guide/migration_guide.md b/docs/en/source/camera_devices/7_developer_guide/migration_guide.md index eb192972..9c8f1299 100644 --- a/docs/en/source/camera_devices/7_developer_guide/migration_guide.md +++ b/docs/en/source/camera_devices/7_developer_guide/migration_guide.md @@ -34,9 +34,9 @@ With an open-source SDK, developers can directly submit issues and pull requests ### **Launch File Differences** -1. In v2-main, new low-power launch file has been added for the Gemini 330 series: +1. In v2-main, a new low-CPU launch file has been added for the Gemini 330 series: - `gemini_330_series_low_cpu.launch.py` -2. v2-main introduces support for **Gemini 435Le**, **Gemini 345**, and **Gemini 345Lg** cameras. +2. v2-main introduces support for **Gemini 210**, **Gemini 301 series**, **Gemini 435Le**, **Gemini 345**, and **Gemini 345Lg** cameras. 3. Since **OrbbecSDK_v2 only supports UVC devices**, the range of camera models supported in v2-main is slightly narrower than in main. Detailed information is provided in the table below. | **camera** | **main** | **v2-main** | @@ -46,20 +46,21 @@ With an open-source SDK, developers can directly submit issues and pull requests | Gemini 345Lg | Not supported | gemini345_lg.launch.py | | Gemini 330 series | gemini_330_series.launch.py | gemini_330_series.launch.py | | Gemini 330 low cpu | - | gemini_330_series_low_cpu.launch.py | -| Gemini 210 | gemini210.launch.py | gemini210.launch.py | +| Gemini 301 series | Not supported | gemini_301_series.launch.py | +| Gemini 210 | Not supported | gemini210.launch.py | | Gemini 2 | gemini2.launch.py | gemini2.launch.py | -| Gemini 2L | gemini2L.launch.py | gemini2.launch.py | +| Gemini 2L | gemini2L.launch.py | gemini2L.launch.py | | Gemini 2XL | gemini2XL.launch.py | - | | Femto Bolt | femto_bolt.launch.py | femto_bolt.launch.py | | Femto Mega | femto_mega.launch.py | femto_mega.launch.py | | Femto | femto.launch.py | femto.launch.py | | Astra 2 | astra2.launch.py | astra2.launch.py | | Astra | astra.launch.py | astra.launch.py | -| Astra Mini Pro / S Pro | astra_mini_pro.launch.py ... | astra.launch.py | | Multi-Camera (Synchronized) | multi_camera_synced.launch.py | multi_camera_synced.launch.py | -| Multi-Camera (Generic / Universal) | multi_camera.launch.py | multi_camera.launch.pyorbbec_multicamera.launch.py | -| Single-Camera Generic Launch | ob_camera.launch.py | orbbec_camera.launch.py | -| OpenNI devices (Dabai、Deeya) | Corresponding model independent file | Not supported | +| Multi-Camera (Generic / Universal) | multi_camera.launch.py | multi_camera.launch.py | +| Single-Camera Generic Launch | ob_camera.launch.py | Not provided | +| Dabai models | Model-specific launch files | dabai_a.launch.py, dabai_al.launch.py, dabai_dcw2.launch.py, dabai_max_pro.launch.py | +| Deeya | deeya.launch.py | Not supported | ### **Parameter Differences** @@ -136,24 +137,18 @@ With an open-source SDK, developers can directly submit issues and pull requests | right_ir.image_raw.enable_pub_plugins | - | Added | Right IR transport plugins | | force_ip_enable | - | Added | Force IP feature | | force_ip_mac | - | Added | Force IP MAC address | -| force_ip_dhcp | - | Added | DHCP auto assignment | | force_ip_address | - | Added | Force IP static address | | force_ip_subnet_mask | - | Added | Force IP subnet mask | | force_ip_gateway | - | Added | Force IP gateway | -**Removed Parameters (main only, removed in v2-main)** +**Removed or Renamed Parameters** | **Parameter** | **Description** | | ------------------------------------ | ------------------------------------------------------------ | -| enable_3d_reconstruction_mode | 3D reconstruction mode deprecated | -| enable_hardware_reset | Hardware reset interface deprecated | -| enable_hardware_noise_removal_filter | Hardware noise removal filter deprecated | -| laser_on_off_mode | Old laser on/off interface, replaced by interleave / laser_index | -| enable_3d_reconstruction_mode | 3D reconstruction mode repeated; no longer used in v2-main | -| device_preset | Some logic migrated to new firmware / interleave parameters | -| enable_trigger_out | Old software trigger interface replaced by software_trigger_enabled | -| retry_on_usb3_detection_failure | Optional; logic adjusted or removed in v2-main | -| enable_color_undistortion | Old interface logic integrated elsewhere; still exists in v2-main but usage may be adjusted | +| enable_3d_reconstruction_mode | Removed; no direct replacement | +| enable_hardware_reset | Removed | +| laser_on_off_mode | Renamed to `enable_laser` | +| enable_trigger_out | Renamed to `trigger_out_enabled` | ### **Topic Differences** diff --git a/docs/zh/source/camera_devices/4_application_guide/topics.md b/docs/zh/source/camera_devices/4_application_guide/topics.md index be3ba907..71b596b3 100644 --- a/docs/zh/source/camera_devices/4_application_guide/topics.md +++ b/docs/zh/source/camera_devices/4_application_guide/topics.md @@ -23,6 +23,12 @@ * 深度流的相机校准数据和元数据。 * `/camera/depth/metadata` * 来自深度流固件的底层元数据。 +* `/camera/depth/image_unaligned` + * 软件对齐前的深度图像。 + * **条件：** 在 `depth_registration` 为 `true` 且 `align_mode` 为 `SW` 时发布；硬件对齐时不发布。 +* `/camera/confidence/image_raw` + * `EnhancedDepthFilter` 生成的置信度图像，根据置信度帧格式编码为 `mono8` 或 `mono16`。 + * **条件：** 增强深度滤波成功且该话题有订阅者时发布。 * `/camera/ir/image_raw` * 红外（IR）流的原始图像数据。 * `/camera/ir/camera_info` @@ -62,6 +68,28 @@ * 包含加速度计和陀螺仪数据的同步数据流（单条消息）。 * **条件：** 在 `enable_sync_output_accel_gyro` 为 `true` 时发布。 +* `/camera/accel/imu_info` + * 加速度计标定信息和噪声特性，类型为 `orbbec_camera_msgs/msg/IMUInfo`。 + * **条件：** 随加速度计输出提供。 + +* `/camera/gyro/imu_info` + * 陀螺仪标定信息和噪声特性，类型为 `orbbec_camera_msgs/msg/IMUInfo`。 + * **条件：** 随陀螺仪输出提供。 + +### 外参话题 + +以下话题使用 `orbbec_camera_msgs/msg/Extrinsics` 类型发布数据流之间的外参： + +* `/camera/depth_to_ir` +* `/camera/depth_to_color` +* `/camera/depth_to_left_ir` +* `/camera/depth_to_right_ir` +* `/camera/depth_to_accel` +* `/camera/depth_to_gyro` +* `/camera/left_color_to_right_color` + +**条件：** `enable_publish_extrinsic` 必须为 `true`，且所选话题对应的两个数据流均已启用。仅发布连接设备支持的话题。 + ### 设备状态与诊断 * `/camera/device_status` diff --git a/docs/zh/source/camera_devices/7_developer_guide/migration_guide.md b/docs/zh/source/camera_devices/7_developer_guide/migration_guide.md index 53a37485..123459fc 100644 --- a/docs/zh/source/camera_devices/7_developer_guide/migration_guide.md +++ b/docs/zh/source/camera_devices/7_developer_guide/migration_guide.md @@ -34,9 +34,9 @@ v2-main 分支提供全功能支持，包括新功能开发、性能优化和错 ### **启动文件差异** -1. 在 v2-main 中，为 Gemini 330 系列添加了新的低功耗启动文件： +1. 在 v2-main 中，为 Gemini 330 系列添加了新的低 CPU 启动文件： - `gemini_330_series_low_cpu.launch.py` -2. v2-main 引入了对 **Gemini 435Le**、**Gemini 345** 和 **Gemini 345Lg** 相机的支持。 +2. v2-main 引入了对 **Gemini 210**、**Gemini 301 系列**、**Gemini 435Le**、**Gemini 345** 和 **Gemini 345Lg** 相机的支持。 3. 由于 **OrbbecSDK_v2 仅支持 UVC 设备**，v2-main 中支持的相机型号范围比 main 略窄。详细信息见下表。 | **相机** | **main** | **v2-main** | @@ -46,20 +46,21 @@ v2-main 分支提供全功能支持，包括新功能开发、性能优化和错 | Gemini 345Lg | 不支持 | gemini345_lg.launch.py | | Gemini 330 系列 | gemini_330_series.launch.py | gemini_330_series.launch.py | | Gemini 330 低CPU | - | gemini_330_series_low_cpu.launch.py | -| Gemini 210 | gemini210.launch.py | gemini210.launch.py | +| Gemini 301 系列 | 不支持 | gemini_301_series.launch.py | +| Gemini 210 | 不支持 | gemini210.launch.py | | Gemini 2 | gemini2.launch.py | gemini2.launch.py | -| Gemini 2L | gemini2L.launch.py | gemini2.launch.py | +| Gemini 2L | gemini2L.launch.py | gemini2L.launch.py | | Gemini 2XL | gemini2XL.launch.py | - | | Femto Bolt | femto_bolt.launch.py | femto_bolt.launch.py | | Femto Mega | femto_mega.launch.py | femto_mega.launch.py | | Femto | femto.launch.py | femto.launch.py | | Astra 2 | astra2.launch.py | astra2.launch.py | | Astra | astra.launch.py | astra.launch.py | -| Astra Mini Pro / S Pro | astra_mini_pro.launch.py ... | astra.launch.py | | 多相机（同步） | multi_camera_synced.launch.py | multi_camera_synced.launch.py | -| 多相机（通用/通用） | multi_camera.launch.py | multi_camera.launch.py 或 orbbec_multicamera.launch.py | -| 单相机通用启动 | ob_camera.launch.py | orbbec_camera.launch.py | -| OpenNI 设备（大白、得雅） | 对应型号独立文件 | 不支持 | +| 多相机（通用） | multi_camera.launch.py | multi_camera.launch.py | +| 单相机通用启动 | ob_camera.launch.py | 未提供 | +| 大白系列 | 对应型号独立启动文件 | dabai_a.launch.py、dabai_al.launch.py、dabai_dcw2.launch.py、dabai_max_pro.launch.py | +| 得雅 | deeya.launch.py | 不支持 | ### **参数差异** @@ -136,24 +137,18 @@ v2-main 分支提供全功能支持，包括新功能开发、性能优化和错 | right_ir.image_raw.enable_pub_plugins | - | 已添加 | 右红外传输插件 | | force_ip_enable | - | 已添加 | 强制 IP 功能 | | force_ip_mac | - | 已添加 | 强制 IP MAC 地址 | -| force_ip_dhcp | - | 已添加 | DHCP 自动分配 | | force_ip_address | - | 已添加 | 强制 IP 静态地址 | | force_ip_subnet_mask | - | 已添加 | 强制 IP 子网掩码 | | force_ip_gateway | - | 已添加 | 强制 IP 网关 | -**已移除参数（仅 main 有，v2-main 中已移除）** +**已移除或重命名的参数** | **参数** | **描述** | | ------------------------------------ | ------------------------------------------------------------ | -| enable_3d_reconstruction_mode | 3D 重建模式已弃用 | -| enable_hardware_reset | 硬件重置接口已弃用 | -| enable_hardware_noise_removal_filter | 硬件噪声去除滤波器已弃用 | -| laser_on_off_mode | 旧激光开关接口，由 interleave / laser_index 替换 | -| enable_3d_reconstruction_mode | 3D 重建模式重复；v2-main 中不再使用 | -| device_preset | 部分逻辑迁移到新固件 / 交错参数 | -| enable_trigger_out | 旧软件触发接口由 software_trigger_enabled 替换 | -| retry_on_usb3_detection_failure | 可选；v2-main 中逻辑已调整或移除 | -| enable_color_undistortion | 旧接口逻辑集成到其他地方；v2-main 中仍存在但使用可能已调整 | +| enable_3d_reconstruction_mode | 已移除，无直接替代参数 | +| enable_hardware_reset | 已移除 | +| laser_on_off_mode | 重命名为 `enable_laser` | +| enable_trigger_out | 重命名为 `trigger_out_enabled` | ### **话题差异**