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zh/source/camera_devices/5_advanced_guide/advanced_guide.html
+36 -8
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@@ -43,16 +43,44 @@
</form>
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<li><a class="reference internal" href="#">高级指南</a><ul>
<li><a class="reference internal" href="#id2">性能与优化</a></li>
<li><a class="reference internal" href="#id3">多相机</a></li>
<li><a class="reference internal" href="#id4">配置与模式</a></li>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
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</ul>
</li>
</ul>
</div>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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</ul>
</li>
</ul>
</div>
</div>
</nav>
@@ -182,7 +210,7 @@
<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
+36 -8
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</form>
</div>
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
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<div class="local-toc"><ul>
<li><a class="reference internal" href="#">在 ROS 2 中对齐深度到彩色</a><ul>
<li><a class="reference internal" href="#id1">对齐和查看深度和彩色图像的命令</a></li>
<li><a class="reference internal" href="#rviz2">在 RViz2 中选择话题</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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</ul>
</li>
</ul>
</div>
</div>
</nav>
@@ -125,7 +153,7 @@
<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
</span></p>
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zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
+38 -5
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</form>
</div>
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
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<li><a class="reference internal" href="#">深度 NFOV 和 WFOV 模式配置</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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</ul>
</li>
</ul>
</div>
</div>
</nav>
@@ -94,7 +127,7 @@
<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
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</form>
</div>
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
<!-- Local TOC -->
<div class="local-toc"><ul>
<li><a class="reference internal" href="#">深度工作模式切换</a></li>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
</ul>
</div>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</div>
</div>
</nav>
@@ -112,7 +145,7 @@
<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
+36 -8
View File
@@ -43,16 +43,44 @@
</form>
</div>
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
<!-- Local TOC -->
<div class="local-toc"><ul>
<li><a class="reference internal" href="#">视差搜索偏移</a><ul>
<li><a class="reference internal" href="#id2">功能介绍</a></li>
<li><a class="reference internal" href="#id3">参数介绍</a></li>
<li><a class="reference internal" href="#id4">运行启动文件</a></li>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
</ul>
</li>
</ul>
</div>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
</ul>
</li>
</ul>
</li>
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</div>
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</nav>
@@ -181,7 +209,7 @@
<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
+36 -8
View File
@@ -43,16 +43,44 @@
</form>
</div>
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
<!-- Local TOC -->
<div class="local-toc"><ul>
<li><a class="reference internal" href="#">在 Gemini330 系列相机中使用 interleave_ae</a><ul>
<li><a class="reference internal" href="#id1">参数介绍</a></li>
<li><a class="reference internal" href="#id2">运行启动文件</a></li>
<li><a class="reference internal" href="#multi-camera-synced-interleave-ae">Multi_camera_synced + Interleave_ae</a></li>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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@@ -126,7 +159,7 @@
<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<div class="local-toc"><ul>
<li><a class="reference internal" href="#">GMSL 相机</a><ul>
<li><a class="reference internal" href="#id1">单个 GMSL 相机</a></li>
<li><a class="reference internal" href="#id2">多个 GMSL 相机</a></li>
<li><a class="reference internal" href="#id3">多个 GMSL 相机同步</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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</li>
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@@ -152,7 +179,7 @@
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<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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</form>
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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
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<div class="local-toc"><ul>
<li><a class="reference internal" href="#">多相机</a><ul>
<li><a class="reference internal" href="#id2">多相机无数据流</a></li>
<li><a class="reference internal" href="#id3">多相机图像话题帧率过低</a></li>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
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</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
</ul>
</li>
</ul>
</div>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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@@ -179,7 +208,7 @@
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<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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+36 -9
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<li><a class="reference internal" href="#id2">设置说明</a></li>
<li><a class="reference internal" href="#orbbecsdk-ros2">使用 OrbbecSDK_ROS2 检查相机端口</a></li>
<li><a class="reference internal" href="#id3">OrbbecSDK_ROS2 多相机同步配置</a></li>
<li><a class="reference internal" href="#id4">运行以下命令启动多相机同步</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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<li><a class="reference internal" href="#">多相机同步验证节点</a><ul>
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<li><a class="reference internal" href="#multi-camera-synced-launch-py"><strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
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<li><a class="reference internal" href="#usb"><strong>提升 USB 缓冲区容量</strong></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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</li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<li><a class="reference internal" href="#">高效的进程内通信：</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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<div role="contentinfo">
<p>&#169; 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.
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<li><a class="reference internal" href="#">针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
<li><a class="reference internal" href="#id1">调整系统参数</a></li>
<li><a class="reference internal" href="#fast-dds">Fast DDS配置</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
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</li>
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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<p>&#169; 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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<li><a class="reference internal" href="#">使用Orbbec ROS包降低CPU使用率</a><ul>
<li><a class="reference internal" href="#cpu">降低CPU使用率的推荐设置</a></li>
<li><a class="reference internal" href="#id1">用于测试的启动文件</a></li>
<li><a class="reference internal" href="#id2">测试环境</a></li>
<li><a class="reference internal" href="#id3">测试设置</a></li>
<li><a class="reference internal" href="#id4">测试结果</a></li>
<li><a class="reference internal" href="#id5">进一步优化</a></li>
<ul>
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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@@ -283,7 +308,7 @@
<div role="contentinfo">
<p>&#169; 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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