mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 20:17:47 +08:00
deploy: 3dfa299605
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ob-yalian
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.. _lidar_devices:
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Lidar Devices
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Lidar Devices
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=======================================
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=======================================
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.. toctree::
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.. toctree::
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:maxdepth: 1
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:maxdepth: 2
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:numbered:
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lidar.md
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lidar.md
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
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|
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||||||
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|
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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|
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||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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|
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|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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|
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|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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||||||
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
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|
|||||||
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||||||
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
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|
||||||
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|
|||||||
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|
||||||
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|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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|
||||||
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||||||
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|||||||
@@ -417,7 +417,7 @@ language governing permissions and limitations under the License.</p>
|
|||||||
|
|
||||||
<div role="contentinfo">
|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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|
|||||||
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|
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|
||||||
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||||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</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="lidar-devices">
|
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</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="lidar-devices">
|
||||||
<h1><span class="section-number">1. </span>Lidar Devices<a class="headerlink" href="#lidar-devices" title="Link to this heading"></a></h1>
|
<span id="id1"></span><h1><span class="section-number">1. </span>Lidar Devices<a class="headerlink" href="#lidar-devices" title="Link to this heading"></a></h1>
|
||||||
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||||||
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|
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|
||||||
<li class="toctree-l1"><a class="reference internal" href="lidar.html">1.1. Installation</a></li>
|
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|
||||||
<li class="toctree-l1"><a class="reference internal" href="lidar.html#usage">1.2. Usage</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
|
||||||
<li class="toctree-l1"><a class="reference internal" href="lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
|
||||||
<li class="toctree-l1"><a class="reference internal" href="lidar.html#imu-data">1.4. IMU Data</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#build-the-package">1.1.4. Build the Package</a></li>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
|
||||||
|
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|
||||||
|
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|
||||||
|
<li class="toctree-l1"><a class="reference internal" href="lidar.html#usage">1.2. Usage</a><ul>
|
||||||
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|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
|
||||||
|
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|
||||||
|
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|
||||||
|
<li class="toctree-l1"><a class="reference internal" href="lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a></li>
|
||||||
|
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|
||||||
|
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|
||||||
|
<li class="toctree-l1"><a class="reference internal" href="lidar.html#imu-data">1.4. IMU Data</a><ul>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
|
||||||
|
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|
||||||
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
||||||
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|
|||||||
|
|
||||||
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|
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|
||||||
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|
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|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
|
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|
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|
||||||
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|
||||||
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||||||
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|
|||||||
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|
||||||
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|
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|
||||||
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|
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|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:12:32.
|
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|
||||||
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||||||
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|
|||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
source/1_overview/overview.rst
|
source/camera_devices/index.rst
|
||||||
source/2_installation/installation.rst
|
source/lidar_devices/index.rst
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
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||||||
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|
|
||||||
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|
|
||||||
|
|||||||
@@ -2,7 +2,7 @@ Lidar Devices
|
|||||||
=======================================
|
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|
||||||
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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||||||
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|
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|
||||||
|
|||||||
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@@ -42,8 +42,44 @@
|
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||||||
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|
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|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
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|
<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul class="simple">
|
||||||
|
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|
||||||
|
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|
||||||
|
<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
|
||||||
|
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|
||||||
|
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|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/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="source/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="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
|
||||||
|
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|
||||||
|
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|
||||||
|
<li class="toctree-l2"><a class="reference internal" href="source/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="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
|
||||||
|
<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
|
||||||
|
<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
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|
||||||
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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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.。
|
<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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<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul class="simple">
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<li><a class="reference internal" href="#">OrbbecSDK V2 ROS2 封装文档</a></li>
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|
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="source/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="source/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="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
|
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||||||
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</li>
|
||||||
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|
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|
<li class="toctree-l3"><a class="reference internal" href="source/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="source/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-l3"><a class="reference internal" href="source/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="source/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="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</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="orbbecsdk-v2-ros2">
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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="orbbecsdk-v2-ros2">
|
||||||
<h1>OrbbecSDK V2 ROS2 封装文档<a class="headerlink" href="#orbbecsdk-v2-ros2" title="Link to this heading"></a></h1>
|
<h1>OrbbecSDK V2 ROS2 封装文档<a class="headerlink" href="#orbbecsdk-v2-ros2" title="Link to this heading"></a></h1>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
|
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|
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
|
||||||
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
|
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|
</li>
|
||||||
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<li class="toctree-l2"><a class="reference internal" href="source/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="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/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="source/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-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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|
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<li class="toctree-l2"><a class="reference internal" href="source/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="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
|
||||||
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a></li>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
|
||||||
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
|
||||||
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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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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<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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|
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/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="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
|
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|
||||||
|
</li>
|
||||||
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<li class="toctree-l2"><a class="reference internal" href="source/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="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="source/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="source/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-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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|
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|
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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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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<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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||||||
<li><a class="reference internal" href="#">引言</a><ul>
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<li><a class="reference internal" href="#id2">支持的硬件产品</a></li>
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<li><a class="reference internal" href="#orbbec">Orbbec 相机规格书</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#udev">1.3. 安装udev规则</a></li>
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||||||
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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>
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<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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</ul>
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||||||
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</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#id6">2.1. 运行驱动</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>
|
||||||
|
<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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||||||
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</ul>
|
||||||
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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>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
|
||||||
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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>
|
||||||
|
<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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||||||
|
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<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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<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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<ul>
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<div class="local-toc"><ul>
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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><a class="reference internal" href="#">Orbbec SDK 概述</a><ul>
|
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<li><a class="reference internal" href="#id1">术语</a></li>
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</li>
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<li><a class="reference internal" href="#orbbec-sdk-v2">Orbbec SDK v2 架构概述</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#sdk">SDK 概念概述</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
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<li><a class="reference internal" href="#id2">SDK 编程模型</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>
|
||||||
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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>
|
||||||
|
<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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</ul>
|
||||||
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</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#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>
|
||||||
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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>
|
||||||
|
<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>
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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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||||||
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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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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||||||
<!-- Local TOC -->
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<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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<li><a class="reference internal" href="#">概述</a></li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
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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>
|
||||||
|
<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>
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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#id15">4.1. IMU话题</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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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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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<!-- Local TOC -->
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<ul>
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||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">环境配置</a></li>
|
|
||||||
<li><a class="reference internal" href="#id2">二进制安装</a></li>
|
|
||||||
<li><a class="reference internal" href="#id3">从源码构建</a></li>
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||||||
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||||||
</div>
|
</li>
|
||||||
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</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>
|
||||||
|
<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>
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||||||
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|
||||||
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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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||||||
|
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||||||
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|
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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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<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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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">安装</a></li>
|
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||||||
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||||||
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|
||||||
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|
||||||
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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>
|
||||||
|
<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>
|
||||||
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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>
|
||||||
|
<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>
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
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|
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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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||||||
|
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|
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|
||||||
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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.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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||||||
<!-- Local TOC -->
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<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">注册脚本（必需）</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">二进制安装</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">从源码构建</a></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>
|
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|
||||||
</li>
|
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|
||||||
</ul>
|
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||||||
</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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|
||||||
|
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|
||||||
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|
||||||
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<div role="contentinfo">
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<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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||||||
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|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">OrbbecViewer 快速入门</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id1">下载</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id2">连接设备</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id3">相机控制</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id4">设备信息和固件升级</a></li>
|
<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>
|
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|
||||||
</li>
|
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|
||||||
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||||||
</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>
|
||||||
|
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|
||||||
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|
||||||
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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.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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|
||||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">ROS 包快速入门</a><ul>
|
|
||||||
<li><a class="reference internal" href="#id1">简介</a></li>
|
|
||||||
<li><a class="reference internal" href="#id2">构建您的第一个相机应用</a><ul>
|
|
||||||
<li><a class="reference internal" href="#ros-2">步骤 1：配置 ROS 2 和工作空间环境</a></li>
|
|
||||||
<li><a class="reference internal" href="#id3">步骤 2：启动相机节点</a></li>
|
|
||||||
<li><a class="reference internal" href="#rviz2">步骤 3：在 RViz2 中可视化</a></li>
|
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id4">示例功能</a><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id5">列出可用的话题/服务/参数</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id6">回显话题</a></li>
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
|
||||||
<li><a class="reference internal" href="#id7">调用服务</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><a class="reference internal" href="#rosbag2">使用 rosbag2 录制</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>
|
||||||
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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#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>
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|
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|
||||||
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|
||||||
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|
||||||
|
<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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<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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<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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<ul>
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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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</div>
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|
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
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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>
|
||||||
|
<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>
|
||||||
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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>
|
||||||
|
<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>
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|
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||||||
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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>
|
||||||
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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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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||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
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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><a class="reference internal" href="#">应用指南</a></li>
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||||||
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</ul>
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||||||
</div>
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</li>
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||||||
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
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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>
|
||||||
|
<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>
|
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|
||||||
|
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|
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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.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">压缩图像</a></li>
|
|
||||||
</ul>
|
</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>
|
||||||
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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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|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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<!-- Local TOC -->
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<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">坐标系和 TF 变换</a><ul>
|
|
||||||
<li><a class="reference internal" href="#id1">相机传感器结构</a></li>
|
|
||||||
<li><a class="reference internal" href="#abtf">从坐标系A到坐标系B的TF变换：</a></li>
|
|
||||||
<li><a class="reference internal" href="#ros2-vs">ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
|
||||||
<li><a class="reference internal" href="#ros2-tf">ROS2 TF工具的使用</a><ul>
|
|
||||||
<li><a class="reference internal" href="#id2">查看TF树结构</a></li>
|
|
||||||
<li><a class="reference internal" href="#rviz2tf">使用rviz2可视化TF树</a></li>
|
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">相机TF计算和发布机制</a><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#obcameranode-calcandpublishstatictransform">核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id4">函数解析</a></li>
|
<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>
|
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|
||||||
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|
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|
||||||
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<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.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">启动参数</a><ul>
|
|
||||||
<li><a class="reference internal" href="#id2">核心与数据流配置</a></li>
|
|
||||||
<li><a class="reference internal" href="#id3">传感器控制</a><ul>
|
|
||||||
<li><a class="reference internal" href="#id4">彩色流</a></li>
|
|
||||||
<li><a class="reference internal" href="#id5">深度流</a></li>
|
|
||||||
<li><a class="reference internal" href="#id6">红外流</a></li>
|
|
||||||
<li><a class="reference internal" href="#ldp">激光 / LDP</a></li>
|
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id7">设备、同步与高级功能</a><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id8">多相机同步</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id9">网络相机</a></li>
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
|
||||||
<li><a class="reference internal" href="#id10">设备特定</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><a class="reference internal" href="#id11">视差</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><a class="reference internal" href="#ae">交错AE模式</a></li>
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
|
||||||
<li><a class="reference internal" href="#id12">相机内同步</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>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id13">基础与通用参数</a><ul>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
|
||||||
<li><a class="reference internal" href="#id14">固件与后端</a></li>
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
|
||||||
<li><a class="reference internal" href="#tf">TF、外参与校准</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><a class="reference internal" href="#id15">时间同步</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><a class="reference internal" href="#id16">日志与诊断</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>
|
||||||
<li><a class="reference internal" href="#id17">其他</a></li>
|
|
||||||
</ul>
|
</ul>
|
||||||
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||||||
<li><a class="reference internal" href="#imu">IMU</a></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><a class="reference internal" href="#id18">深度滤波器</a></li>
|
<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>
|
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|
||||||
</li>
|
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|
||||||
</ul>
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||||||
</div>
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</li>
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||||||
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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>
|
||||||
|
</ul>
|
||||||
|
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|
||||||
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|
||||||
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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.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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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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||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">在ROS 2中启用和可视化点云</a><ul>
|
|
||||||
<li><a class="reference internal" href="#id1">启用深度点云</a><ul>
|
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||||||
<li><a class="reference internal" href="#id2">启用深度点云的命令</a></li>
|
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||||||
<li><a class="reference internal" href="#rviz2">在RViz2中可视化深度点云</a></li>
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||||||
</ul>
|
</ul>
|
||||||
</li>
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</li>
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||||||
<li><a class="reference internal" href="#id3">启用彩色点云</a><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id4">启用彩色点云的命令</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id5">在RViz2中可视化彩色点云</a></li>
|
<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>
|
||||||
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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>
|
||||||
</ul>
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||||||
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||||||
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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.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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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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<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
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||||||
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<li><a class="reference internal" href="#id11">数据捕获与校准管理</a></li>
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||||||
<li><a class="reference internal" href="#id12">点云下采样</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>
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||||||
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<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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</ul>
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||||||
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</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#id6">2.1. 运行驱动</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>
|
||||||
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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>
|
||||||
|
<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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||||||
|
</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>
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||||||
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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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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||||||
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<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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<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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<ul>
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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><a class="reference internal" href="#">可用话题</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">图像流</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">点云话题</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#imu">IMU话题</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id4">设备状态与诊断</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>
|
||||||
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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>
|
||||||
|
<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>
|
||||||
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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#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>
|
||||||
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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>
|
||||||
|
<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>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
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<!-- Local TOC -->
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<ul>
|
||||||
<div class="local-toc"><ul>
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<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">高级指南</a><ul>
|
</ul>
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||||||
<li><a class="reference internal" href="#id2">性能与优化</a></li>
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</li>
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<li><a class="reference internal" href="#id3">多相机</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id4">配置与模式</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
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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>
|
||||||
|
<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>
|
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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#id15">4.1. IMU话题</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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<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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<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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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
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<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">在 ROS 2 中对齐深度到彩色</a><ul>
|
</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>
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</li>
|
||||||
<li><a class="reference internal" href="#rviz2">在 RViz2 中选择话题</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id2">深度到彩色叠加示例</a></li>
|
<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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|
||||||
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|
||||||
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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>
|
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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>
|
||||||
|
<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>
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|
||||||
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<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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<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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<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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<!-- Local TOC -->
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<ul>
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<div class="local-toc"><ul>
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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><a class="reference internal" href="#">深度 NFOV 和 WFOV 模式配置</a></li>
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</ul>
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</ul>
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||||||
</div>
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
|
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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 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>
|
||||||
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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#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>
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|
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|
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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#id15">4.1. IMU话题</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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<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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<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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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
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<!-- Local TOC -->
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<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">深度工作模式切换</a></li>
|
|
||||||
</ul>
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</ul>
|
||||||
</div>
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</li>
|
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
|
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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>
|
||||||
|
<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>
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||||||
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</ul>
|
||||||
|
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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>
|
||||||
|
<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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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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||||||
<!-- Local TOC -->
|
<ul>
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||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">视差搜索偏移</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">功能介绍</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">参数介绍</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id4">运行启动文件</a></li>
|
<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>
|
||||||
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|
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|
||||||
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|
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|
||||||
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</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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|
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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.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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||||||
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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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<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id1">参数介绍</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id2">运行启动文件</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#multi-camera-synced-interleave-ae">Multi_camera_synced + Interleave_ae</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
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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>
|
||||||
|
<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>
|
||||||
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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>
|
||||||
|
<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>
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||||||
</ul>
|
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|
||||||
</li>
|
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|
||||||
</ul>
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||||||
</div>
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</li>
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||||||
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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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</ul>
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||||||
|
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||||||
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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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<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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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
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||||||
<!-- Local TOC -->
|
<ul>
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||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">网络相机</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#set-device-ip">set_device_ip 工具</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#ip">强制 IP 功能</a></li>
|
<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>
|
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|
||||||
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||||||
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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>
|
||||||
|
</ul>
|
||||||
|
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||||||
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<div role="contentinfo">
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<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.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">预定义预设</a></li>
|
|
||||||
</ul>
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</ul>
|
||||||
</div>
|
</li>
|
||||||
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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>
|
||||||
|
</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>
|
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|
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<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.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">GMSL 相机</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id1">单个 GMSL 相机</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id2">多个 GMSL 相机</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id3">多个 GMSL 相机同步</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id4">GMSL 相机的使用限制</a></li>
|
<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>
|
</ul>
|
||||||
</li>
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|
||||||
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</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>
|
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|
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|
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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.。
|
<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">多相机</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">多相机无数据流</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">多相机图像话题帧率过低</a></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>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</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>
|
||||||
|
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|
||||||
|
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|
||||||
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|
|||||||
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<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
|
||||||
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||||||
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||||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">多相机同步说明</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">设置说明</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#orbbecsdk-ros2">使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id3">OrbbecSDK_ROS2 多相机同步配置</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id4">运行以下命令启动多相机同步</a></li>
|
<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>
|
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|
||||||
</li>
|
</li>
|
||||||
</ul>
|
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|
||||||
</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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|
||||||
|
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|
||||||
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|
||||||
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<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.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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||||||
</div>
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|
||||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">多相机同步验证节点</a><ul>
|
|
||||||
<li><a class="reference internal" href="#id2">使用教程</a><ul>
|
|
||||||
<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>
|
|
||||||
<li><a class="reference internal" href="#id3"><strong>参数文件修改</strong></a></li>
|
|
||||||
<li><a class="reference internal" href="#id4"><strong>启动与验证</strong></a></li>
|
|
||||||
<li><a class="reference internal" href="#launch"><strong>参考 launch 文件</strong></a></li>
|
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id5">必要系统配置</a><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#usb"><strong>提升 USB 缓冲区容量</strong></a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#fast-dds"><strong>配置 Fast DDS</strong></a></li>
|
<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>
|
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|
||||||
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|
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|
||||||
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<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
|
||||||
</span></p>
|
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</form>
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||||||
</div>
|
</div>
|
||||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">高效的进程内通信：</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">简介</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">示例</a></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>
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||||||
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<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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</ul>
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||||||
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</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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||||||
|
</ul>
|
||||||
|
</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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||||||
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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<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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||||||
|
<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</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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<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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<!-- Local TOC -->
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|
||||||
<li><a class="reference internal" href="#id1">调整系统参数</a></li>
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|
||||||
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<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
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<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
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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>
|
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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#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>
|
||||||
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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#id6">2.1. 运行驱动</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>
|
||||||
|
<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>
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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>
|
||||||
|
<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>
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<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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<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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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
|
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<li><a class="reference internal" href="#">使用Orbbec ROS包降低CPU使用率</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#cpu">降低CPU使用率的推荐设置</a></li>
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</li>
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||||||
<li><a class="reference internal" href="#id1">用于测试的启动文件</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
|
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<li><a class="reference internal" href="#id2">测试环境</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id3">测试设置</a></li>
|
<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
|
||||||
<li><a class="reference internal" href="#id4">测试结果</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><a class="reference internal" href="#id5">进一步优化</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>
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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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||||||
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<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<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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<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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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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<!-- Local TOC -->
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<ul>
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<div class="local-toc"><ul>
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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><a class="reference internal" href="#">性能基准测试</a></li>
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</ul>
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</div>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
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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>
|
||||||
|
<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>
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</ul>
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||||||
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|
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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>
|
||||||
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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>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
|
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<ul>
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||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">性能基准测试数据</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">通用基准测试数据</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">服务基准测试数据</a></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>
|
</ul>
|
||||||
</li>
|
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|
||||||
</ul>
|
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||||||
</div>
|
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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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|
</ul>
|
||||||
|
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|
||||||
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|
||||||
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<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.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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|
|||||||
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||||||
</div>
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||||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">性能基准测试使用</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">使用通用基准测试节点</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">使用服务基准测试节点</a><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#ros2-c">ROS2 C++</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#ros2-python">ROS2 Python</a></li>
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
|
||||||
<li><a class="reference internal" href="#yaml"><strong>示例 YAML 配置</strong></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>
|
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|
||||||
</li>
|
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|
||||||
</ul>
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||||||
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<div role="contentinfo">
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<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
|
||||||
</span></p>
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</span></p>
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@@ -43,15 +43,44 @@
|
|||||||
</form>
|
</form>
|
||||||
</div>
|
</div>
|
||||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">介绍</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#id2">通用基准测试节点</a></li>
|
</li>
|
||||||
<li><a class="reference internal" href="#id3">服务基准测试节点</a></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>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</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>
|
||||||
|
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@@ -119,7 +148,7 @@
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|
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<div role="contentinfo">
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<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<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.
|
<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
|
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</span></p>
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</form>
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||||||
</div>
|
</div>
|
||||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||||
<!-- Local TOC -->
|
<ul>
|
||||||
<div class="local-toc"><ul>
|
<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
|
||||||
<li><a class="reference internal" href="#">其他工具</a><ul>
|
</ul>
|
||||||
<li><a class="reference internal" href="#ob-benchmark">Ob_benchmark 工具</a><ul>
|
</li>
|
||||||
<li><a class="reference internal" href="#start-benchmark-params-json">工具配置 (start_benchmark_params.json)</a></li>
|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id2">相机配置（启动文件）</a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id3">运行 ob_benchmark 工具</a></li>
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
|
||||||
<li><a class="reference internal" href="#id4">输出数据文件</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>
|
||||||
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<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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||||||
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|
||||||
|
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|
||||||
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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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||||||
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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|
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|
||||||
|
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</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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<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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<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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<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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<li><a class="reference internal" href="#">构建 Debian 软件包</a><ul>
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<li><a class="reference internal" href="#id1">准备环境</a></li>
|
</li>
|
||||||
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|
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
|
||||||
<li><a class="reference internal" href="#id2">构建软件包</a></li>
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|
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||||||
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<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 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>
|
||||||
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|
||||||
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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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<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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|
||||||
|
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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>
|
||||||
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|
||||||
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<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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<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<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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<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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<ul>
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||||||
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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><a class="reference internal" href="#">开发者指南</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
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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>
|
||||||
|
<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>
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|
||||||
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</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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<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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<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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<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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||||||
<li><a class="reference internal" href="#">从 main 分支迁移到开源 v2-main 分支</a><ul>
|
|
||||||
<li><a class="reference internal" href="#id1">引言</a></li>
|
|
||||||
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|
|
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<li><a class="reference internal" href="#id3"><strong>全面的设备支持</strong></a></li>
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|
||||||
<li><a class="reference internal" href="#id8"><strong>启动文件差异</strong></a></li>
|
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
|
||||||
<li><a class="reference internal" href="#id9"><strong>参数差异</strong></a></li>
|
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
|
||||||
<li><a class="reference internal" href="#id10"><strong>话题差异</strong></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><a class="reference internal" href="#id11"><strong>服务差异</strong></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>
|
||||||
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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>
|
||||||
|
<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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||||||
|
</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>
|
||||||
|
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|
||||||
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|
||||||
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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#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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<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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<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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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</span></p>
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</span></p>
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