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obshenlanzhou
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# 多相机同步验证工具
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# 多相机同步验证节点
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> 本文将介绍如何验证多相机同步的同步精度。
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>
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> 首先，请查看如何使用 [multi_camera_synced](./multi_camera_synced.md)。
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文件路径：[image_sync_example_node.cpp](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp)
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您可以在 [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples) 中找到示例使用代码。
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此示例节点用于 **4 台 Orbbec 相机** 的同步采集与时间戳验证。
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它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。
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## 目录结构
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---
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## 使用教程
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### **在 `multi_camera_synced.launch.py` 的基础上做以下修改**
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- 增加 `launch_include` 以适配 4 台相机
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- 根据设备型号选择对应的 launch 文件，如 330 系列选择 gemini_330_series.launch.py
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- 命名规范：camera_name 命名方式 camera_01、camera_02、camera_03 ...
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- 设置 device_num 数量为 4
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- USB 端口配置 usb_port，使用以下命令查看并绑定正确的端口
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`ros2 run orbbec_camera list_devices_node`
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- 同步模式设置为主从模式，一个 primary 相机，其他设置为 secondary_synced
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- 启动顺序：主相机（Primary）应最后启动，以确保同步信号建立正确。
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---
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### **参数文件修改**
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修改 `config` 目录下的以下两个配置文件：
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- `camera_params.yaml`
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- `camera_secondary_params.yaml`
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确保以下内容统一：
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- 启用 **depth** 与 **color** 流；
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- 统一各相机的 **帧率（fps）**。
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---
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### **启动与验证**
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- 启动多机同步 launch： `multi_camera_synced.launch.py`
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- 打开新终端运行同步验证节点： `ros2 run orbbec_camera image_sync_example_node`
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该节点会输出多相机图像的时间戳差异信息，用于验证同步效果。
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---
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### **参考 launch 文件**
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```plaintext
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.
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├── multicamera_sync/
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│ ├── output/
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│ ├──20250218102900/
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│ ├──DevicesInfo.txt
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│ ├──StreamProfileInfo.txt
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│ ├── Python/
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│ ├──Config.ini
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├── gemini_330_series_synced_verify.launch.py
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├── multi_camera_synced_verify.launch.py
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```
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node, LoadComposableNodes
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**multicamera_sync**
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* `gemini_330_series_synced_verify.launch.py`：单相机运行启动文件，为 multi_camera_synced_verify.launch.py 提供相机运行节点。
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* `multi_camera_synced_verify.launch.py`：多相机同步 + save_rgbir 工具的启动文件。
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**output**
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory("orbbec_camera")
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launch_file_dir = os.path.join(package_dir, "launch")
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config_file_dir = os.path.join(package_dir, "config")
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config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
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secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
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> `ouput` 文件夹是相机图片输出的文件夹
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_01",
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"usb_port": "2-2.3",
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"device_num": "4",
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"sync_mode": "primary",
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"config_file_path": config_file_path,
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"trigger_out_enabled": "true"
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}.items(),
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)
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在提供的输出示例中
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_02",
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"usb_port": "2-1",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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* `20250218102900`：表示在 2025 年 2 月 18 日 10:29:00 收集的相机图像信息。
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* `TotalModeFrames`：相机图像信息存储目录。
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* `results-2025-02-25_163648`：分析和匹配 TotalModeFrames 图像信息后的结果。
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* `DevicesInfo.txt`：相机设备基本信息（需要修改）。
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* `StreamProfileInfo.txt`：相机视频流信息（无需修改）。
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launch3_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_03",
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"usb_port": "2-3",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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**Python**
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launch4_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_04",
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"usb_port": "2-4",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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* `Config.ini`：Python 分析脚本的配置文件（需要修改）。
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## 运行准备
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**save_rgbir 节点**
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编辑 multi_camera_synced_verify.launch.py 并填写激活的相机设备，我们可以看到 save_rgbir 在最后启动。
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> 重要
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>
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> 如果您使用 ROS 2 Foxy，需要先启动 save_rgbir 节点。
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```python
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# Launch description
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# Launch description
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ld = LaunchDescription(
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[
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shared_orbbec_container,
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TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
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TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
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TimerAction(period=2.0, actions=[GroupAction([launch3_include])]),
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TimerAction(period=4.0, actions=[GroupAction([launch4_include])]),
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TimerAction(period=6.0, actions=[GroupAction([launch1_include])]),
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# The primary camera should be launched at last
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TimerAction(period=6.0, actions=[GroupAction([save_rgbir])]),
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# save_rgbir is synced verification tool
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]
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)
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return ld
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```
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save_rgbir 是一个用于保存图像的工具。该工具的配置文件在 [multi_save_rgbir_params.json](../../config/tools/multisavergbir/multi_save_rgbir_params.json) 中。
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---
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```json
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{
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"save_rgbir_params": {
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"time_domain": "global",
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"usb_ports": [
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"2-1",
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"2-3"
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],
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"camera_name": [
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"camera_01",
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"camera_02"
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]
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}
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}
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## 必要系统配置
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### **提升 USB 缓冲区容量**
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```
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echo 512 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
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```
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* `time_domain`：时间戳类型
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* `usb_ports`："primary"、"secondary 1"、"secondary 2"、"secondary 3"，根据相机数量填写 usb_ports
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* `camera_name`：相机设置的名称，例如：camera_01
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### **配置 Fast DDS**
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**DevicesInfo.txt**
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编辑 DevicesInfo.txt。只需要更改 `primarySerialNumber`、`index` 和 `serialNumber` 参数。其他参数不需要更改。请参考 [20250218102900](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900) 的示例。
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* `primarySerialNumber`：主相机的 SN 序列号
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* `index`：相机索引
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* `serialNumber`：相机的 SN 序列号
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**Config.ini**
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编辑 Config.ini。修改 `frameRate` 和 `tspRangeThreshold`。
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## 运行此示例
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**运行启动文件并保存相机图片**
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* 第一个终端
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```bash
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ros2 launch orbbec_camera multi_camera_synced_verify.launch.py
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```
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* 第二个终端
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```bash
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ros2 service call /save_rgbir/start_capture orbbec_camera_msgs/srv/SetInt32 '{data: 100}'
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```
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当终端显示"over"时，图像已保存。将在工作空间下生成一个新的 multicamera_sync 文件夹。
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**相机图片命名格式**
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以 [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) 为例
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* `color`：此图像是彩色流的快照。
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* `SNCP1E5420006D`：相机的 SN 序列号是 CP1E5420006D。
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* `Index0`：相机 0（通常指主相机）。
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* `g1739874543227`："g"表示全局时间戳，意味着此帧的全局时间戳是 1739874543227。
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* `f0`：此相机彩色流采集的第 0 张图片。
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* `s1739874543327`："s"表示当前系统的时间戳，意味着此帧的当前系统时间戳是 1739874543327。
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* `e50`：此帧的曝光为 50。
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* `d16`：此帧的增益为 16。
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**分析相机图像数据**
|
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|
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您需要将修改后的 [Python 文件夹](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python) 复制到新的 multi_camera_synced 子目录，并将修改后的 [DevicesInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt) 和 [StreamProfileInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/StreamProfileInfo.txt) 复制到与 TotalModeFrames 文件夹同级的目录。
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||||
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* 最后一切准备就绪，运行 python 脚本
|
||||
|
||||
```bash
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cd multicamera_sync/Python
|
||||
python3 SyncFramesMain.py
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```
|
||||
|
||||
操作成功后，您可以在 `results 文件夹` 中查看同步效果
|
||||
|
||||
## 需要更改的文件
|
||||
|
||||
**分析工具**
|
||||
|
||||
* [multi_save_rgbir_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json)
|
||||
* [DevicesInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/DevicesInfo.txt)
|
||||
* [Config.ini](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini)
|
||||
|
||||
**相机配置**
|
||||
|
||||
[camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml)（相机启动参数设置）
|
||||
|
||||
[multi_camera_synced_verify.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multi_camera_synced_verify.launch.py)
|
||||
优化 ROS2 节点间通信延迟，可以有效减少图像传输延迟，[配置过程见此章节](../performance/fastdds_tuning.md)。
|
||||
|
||||
+14
-6
@@ -215,11 +215,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -372,7 +380,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+15
-7
@@ -217,11 +217,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -455,7 +463,7 @@
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
@@ -531,7 +539,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
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||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -380,7 +388,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
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||||
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@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -685,7 +693,7 @@ thead th {
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -556,7 +564,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -394,7 +402,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -421,7 +429,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -387,7 +395,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -385,7 +393,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -458,7 +466,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -463,7 +471,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -394,7 +402,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -419,7 +427,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -383,7 +391,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -715,7 +723,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -1001,7 +1009,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -428,7 +436,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -646,7 +654,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -493,7 +501,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -405,11 +413,9 @@
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -470,7 +476,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -412,7 +420,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
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</span></p>
|
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</div>
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+14
-6
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -386,7 +394,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
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</div>
|
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|
||||
|
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@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -404,7 +412,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
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</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -468,7 +476,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -432,7 +440,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></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 2025年10月31日 02:59:39.
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
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</ul>
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||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
|
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<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
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<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
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<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
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<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.4. GMSL 相机</a><ul>
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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.。
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
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<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
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||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
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||||
</ul>
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</li>
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||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
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||||
</li>
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||||
</ul>
|
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<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
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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.。
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<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
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||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
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<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
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<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
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</ul>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
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|
||||
<li class="toctree-l4"><a class="reference internal" href="#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -351,7 +359,7 @@
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>高级指南</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">5.2.3. </span>多相机同步验证工具</li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">5.2.3. </span>多相机同步验证节点</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
@@ -362,152 +370,158 @@
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
|
||||
<h1><span class="section-number">5.2.3. </span>多相机同步验证工具<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<blockquote>
|
||||
<div><p>本文将介绍如何验证多相机同步的同步精度。</p>
|
||||
<p>首先，请查看如何使用 <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>。</p>
|
||||
</div></blockquote>
|
||||
<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
|
||||
<h1><span class="section-number">5.2.3. </span>多相机同步验证节点<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>文件路径：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp">image_sync_example_node.cpp</a></p>
|
||||
<p>此示例节点用于 <strong>4 台 Orbbec 相机</strong> 的同步采集与时间戳验证。
|
||||
它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。</p>
|
||||
<hr class="docutils" />
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">5.2.3.1. </span>目录结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-plaintext notranslate"><div class="highlight"><pre><span></span>.
|
||||
├── multicamera_sync/
|
||||
│ ├── output/
|
||||
│ ├──20250218102900/
|
||||
│ ├──DevicesInfo.txt
|
||||
│ ├──StreamProfileInfo.txt
|
||||
│ ├── Python/
|
||||
│ ├──Config.ini
|
||||
├── gemini_330_series_synced_verify.launch.py
|
||||
├── multi_camera_synced_verify.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>multicamera_sync</strong></p>
|
||||
<h2><span class="section-number">5.2.3.1. </span>使用教程<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<section id="multi-camera-synced-launch-py">
|
||||
<h3><span class="section-number">5.2.3.1.1. </span><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 class="headerlink" href="#multi-camera-synced-launch-py" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_synced_verify.launch.py</span></code>：单相机运行启动文件，为 multi_camera_synced_verify.launch.py 提供相机运行节点。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_synced_verify.launch.py</span></code>：多相机同步 + save_rgbir 工具的启动文件。</p></li>
|
||||
</ul>
|
||||
<p><strong>output</strong></p>
|
||||
<blockquote>
|
||||
<div><p><code class="docutils literal notranslate"><span class="pre">ouput</span></code> 文件夹是相机图片输出的文件夹</p>
|
||||
</div></blockquote>
|
||||
<p>在提供的输出示例中</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">20250218102900</span></code>：表示在 2025 年 2 月 18 日 10:29:00 收集的相机图像信息。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">TotalModeFrames</span></code>：相机图像信息存储目录。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">results-2025-02-25_163648</span></code>：分析和匹配 TotalModeFrames 图像信息后的结果。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">DevicesInfo.txt</span></code>：相机设备基本信息（需要修改）。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">StreamProfileInfo.txt</span></code>：相机视频流信息（无需修改）。</p></li>
|
||||
</ul>
|
||||
<p><strong>Python</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">Config.ini</span></code>：Python 分析脚本的配置文件（需要修改）。</p></li>
|
||||
<li><p>增加 <code class="docutils literal notranslate"><span class="pre">launch_include</span></code> 以适配 4 台相机</p></li>
|
||||
<li><p>根据设备型号选择对应的 launch 文件，如 330 系列选择 gemini_330_series.launch.py</p></li>
|
||||
<li><p>命名规范：camera_name 命名方式 camera_01、camera_02、camera_03 ...</p></li>
|
||||
<li><p>设置 device_num 数量为 4</p></li>
|
||||
<li><p>USB 端口配置 usb_port，使用以下命令查看并绑定正确的端口
|
||||
<code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_devices_node</span></code></p></li>
|
||||
<li><p>同步模式设置为主从模式，一个 primary 相机，其他设置为 secondary_synced</p></li>
|
||||
<li><p>启动顺序：主相机（Primary）应最后启动，以确保同步信号建立正确。</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">5.2.3.2. </span>运行准备<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p><strong>save_rgbir 节点</strong></p>
|
||||
<p>编辑 multi_camera_synced_verify.launch.py 并填写激活的相机设备，我们可以看到 save_rgbir 在最后启动。</p>
|
||||
<blockquote>
|
||||
<div><p>重要</p>
|
||||
<p>如果您使用 ROS 2 Foxy，需要先启动 save_rgbir 节点。</p>
|
||||
</div></blockquote>
|
||||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># Launch description</span>
|
||||
<h3><span class="section-number">5.2.3.1.2. </span><strong>参数文件修改</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
|
||||
<p>修改 <code class="docutils literal notranslate"><span class="pre">config</span></code> 目录下的以下两个配置文件：</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">camera_params.yaml</span></code></p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">camera_secondary_params.yaml</span></code></p></li>
|
||||
</ul>
|
||||
<p>确保以下内容统一：</p>
|
||||
<ul class="simple">
|
||||
<li><p>启用 <strong>depth</strong> 与 <strong>color</strong> 流；</p></li>
|
||||
<li><p>统一各相机的 <strong>帧率（fps）</strong>。</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="id4">
|
||||
<h3><span class="section-number">5.2.3.1.3. </span><strong>启动与验证</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p>启动多机同步 launch： <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code></p></li>
|
||||
<li><p>打开新终端运行同步验证节点： <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">image_sync_example_node</span></code>
|
||||
该节点会输出多相机图像的时间戳差异信息，用于验证同步效果。</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="launch">
|
||||
<h3><span class="section-number">5.2.3.1.4. </span><strong>参考 launch 文件</strong><a class="headerlink" href="#launch" title="Link to this heading"></a></h3>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">IncludeLaunchDescription</span><span class="p">,</span> <span class="n">GroupAction</span><span class="p">,</span> <span class="n">TimerAction</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch.launch_description_sources</span><span class="w"> </span><span class="kn">import</span> <span class="n">PythonLaunchDescriptionSource</span>
|
||||
<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span><span class="p">,</span> <span class="n">LoadComposableNodes</span>
|
||||
|
||||
|
||||
|
||||
<span class="k">def</span><span class="w"> </span><span class="nf">generate_launch_description</span><span class="p">():</span>
|
||||
<span class="c1"># Include launch files</span>
|
||||
<span class="n">package_dir</span> <span class="o">=</span> <span class="n">get_package_share_directory</span><span class="p">(</span><span class="s2">"orbbec_camera"</span><span class="p">)</span>
|
||||
<span class="n">launch_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s2">"launch"</span><span class="p">)</span>
|
||||
<span class="n">config_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s2">"config"</span><span class="p">)</span>
|
||||
<span class="n">config_file_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">config_file_dir</span><span class="p">,</span> <span class="s2">"camera_params.yaml"</span><span class="p">)</span>
|
||||
<span class="n">secondary_config_file_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">config_file_dir</span><span class="p">,</span> <span class="s2">"camera_secondary_params.yaml"</span><span class="p">)</span>
|
||||
|
||||
<span class="n">launch1_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
|
||||
<span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
|
||||
<span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">"gemini_330_series.launch.py"</span><span class="p">)</span>
|
||||
<span class="p">),</span>
|
||||
<span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
|
||||
<span class="s2">"camera_name"</span><span class="p">:</span> <span class="s2">"camera_01"</span><span class="p">,</span>
|
||||
<span class="s2">"usb_port"</span><span class="p">:</span> <span class="s2">"2-2.3"</span><span class="p">,</span>
|
||||
<span class="s2">"device_num"</span><span class="p">:</span> <span class="s2">"4"</span><span class="p">,</span>
|
||||
<span class="s2">"sync_mode"</span><span class="p">:</span> <span class="s2">"primary"</span><span class="p">,</span>
|
||||
<span class="s2">"config_file_path"</span><span class="p">:</span> <span class="n">config_file_path</span><span class="p">,</span>
|
||||
<span class="s2">"trigger_out_enabled"</span><span class="p">:</span> <span class="s2">"true"</span>
|
||||
<span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
|
||||
<span class="p">)</span>
|
||||
|
||||
<span class="n">launch2_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
|
||||
<span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
|
||||
<span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">"gemini_330_series.launch.py"</span><span class="p">)</span>
|
||||
<span class="p">),</span>
|
||||
<span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
|
||||
<span class="s2">"camera_name"</span><span class="p">:</span> <span class="s2">"camera_02"</span><span class="p">,</span>
|
||||
<span class="s2">"usb_port"</span><span class="p">:</span> <span class="s2">"2-1"</span><span class="p">,</span>
|
||||
<span class="s2">"device_num"</span><span class="p">:</span> <span class="s2">"4"</span><span class="p">,</span>
|
||||
<span class="s2">"sync_mode"</span><span class="p">:</span> <span class="s2">"secondary_synced"</span><span class="p">,</span>
|
||||
<span class="s2">"config_file_path"</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
|
||||
<span class="s2">"trigger_out_enabled"</span><span class="p">:</span> <span class="s2">"false"</span>
|
||||
<span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
|
||||
<span class="p">)</span>
|
||||
|
||||
<span class="n">launch3_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
|
||||
<span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
|
||||
<span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">"gemini_330_series.launch.py"</span><span class="p">)</span>
|
||||
<span class="p">),</span>
|
||||
<span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
|
||||
<span class="s2">"camera_name"</span><span class="p">:</span> <span class="s2">"camera_03"</span><span class="p">,</span>
|
||||
<span class="s2">"usb_port"</span><span class="p">:</span> <span class="s2">"2-3"</span><span class="p">,</span>
|
||||
<span class="s2">"device_num"</span><span class="p">:</span> <span class="s2">"4"</span><span class="p">,</span>
|
||||
<span class="s2">"sync_mode"</span><span class="p">:</span> <span class="s2">"secondary_synced"</span><span class="p">,</span>
|
||||
<span class="s2">"config_file_path"</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
|
||||
<span class="s2">"trigger_out_enabled"</span><span class="p">:</span> <span class="s2">"false"</span>
|
||||
<span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
|
||||
<span class="p">)</span>
|
||||
|
||||
<span class="n">launch4_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
|
||||
<span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
|
||||
<span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">"gemini_330_series.launch.py"</span><span class="p">)</span>
|
||||
<span class="p">),</span>
|
||||
<span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
|
||||
<span class="s2">"camera_name"</span><span class="p">:</span> <span class="s2">"camera_04"</span><span class="p">,</span>
|
||||
<span class="s2">"usb_port"</span><span class="p">:</span> <span class="s2">"2-4"</span><span class="p">,</span>
|
||||
<span class="s2">"device_num"</span><span class="p">:</span> <span class="s2">"4"</span><span class="p">,</span>
|
||||
<span class="s2">"sync_mode"</span><span class="p">:</span> <span class="s2">"secondary_synced"</span><span class="p">,</span>
|
||||
<span class="s2">"config_file_path"</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
|
||||
<span class="s2">"trigger_out_enabled"</span><span class="p">:</span> <span class="s2">"false"</span>
|
||||
<span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
|
||||
<span class="p">)</span>
|
||||
|
||||
|
||||
|
||||
<span class="c1"># Launch description</span>
|
||||
<span class="n">ld</span> <span class="o">=</span> <span class="n">LaunchDescription</span><span class="p">(</span>
|
||||
<span class="p">[</span>
|
||||
<span class="n">shared_orbbec_container</span><span class="p">,</span>
|
||||
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch2_include</span><span class="p">])]),</span>
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch1_include</span><span class="p">])]),</span>
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch3_include</span><span class="p">])]),</span>
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">4.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch4_include</span><span class="p">])]),</span>
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">6.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch1_include</span><span class="p">])]),</span>
|
||||
<span class="c1"># The primary camera should be launched at last</span>
|
||||
<span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">6.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">save_rgbir</span><span class="p">])]),</span>
|
||||
<span class="c1"># save_rgbir is synced verification tool</span>
|
||||
<span class="p">]</span>
|
||||
<span class="p">)</span>
|
||||
|
||||
<span class="k">return</span> <span class="n">ld</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>save_rgbir 是一个用于保存图像的工具。该工具的配置文件在 <a class="reference external" href="../../config/tools/multisavergbir/multi_save_rgbir_params.json">multi_save_rgbir_params.json</a> 中。</p>
|
||||
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"save_rgbir_params"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="nt">"time_domain"</span><span class="p">:</span><span class="w"> </span><span class="s2">"global"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="nt">"usb_ports"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||||
<span class="w"> </span><span class="s2">"2-1"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"2-3"</span>
|
||||
<span class="w"> </span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="nt">"camera_name"</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
|
||||
<span class="w"> </span><span class="s2">"camera_01"</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s2">"camera_02"</span>
|
||||
<span class="w"> </span><span class="p">]</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">time_domain</span></code>：时间戳类型</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">usb_ports</span></code>："primary"、"secondary 1"、"secondary 2"、"secondary 3"，根据相机数量填写 usb_ports</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">camera_name</span></code>：相机设置的名称，例如：camera_01</p></li>
|
||||
</ul>
|
||||
<p><strong>DevicesInfo.txt</strong></p>
|
||||
<p>编辑 DevicesInfo.txt。只需要更改 <code class="docutils literal notranslate"><span class="pre">primarySerialNumber</span></code>、<code class="docutils literal notranslate"><span class="pre">index</span></code> 和 <code class="docutils literal notranslate"><span class="pre">serialNumber</span></code> 参数。其他参数不需要更改。请参考 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900">20250218102900</a> 的示例。</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">primarySerialNumber</span></code>：主相机的 SN 序列号</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">index</span></code>：相机索引</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">serialNumber</span></code>：相机的 SN 序列号</p></li>
|
||||
</ul>
|
||||
<p><strong>Config.ini</strong></p>
|
||||
<p>编辑 Config.ini。修改 <code class="docutils literal notranslate"><span class="pre">frameRate</span></code> 和 <code class="docutils literal notranslate"><span class="pre">tspRangeThreshold</span></code>。</p>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h2><span class="section-number">5.2.3.3. </span>运行此示例<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
|
||||
<p><strong>运行启动文件并保存相机图片</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>第一个终端</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera_synced_verify.launch.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p>第二个终端</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/save_rgbir/start_capture<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 100}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>当终端显示"over"时，图像已保存。将在工作空间下生成一个新的 multicamera_sync 文件夹。</p>
|
||||
<p><strong>相机图片命名格式</strong></p>
|
||||
<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg">color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg</a> 为例</p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">color</span></code>：此图像是彩色流的快照。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">SNCP1E5420006D</span></code>：相机的 SN 序列号是 CP1E5420006D。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">Index0</span></code>：相机 0（通常指主相机）。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">g1739874543227</span></code>："g"表示全局时间戳，意味着此帧的全局时间戳是 1739874543227。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">f0</span></code>：此相机彩色流采集的第 0 张图片。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">s1739874543327</span></code>："s"表示当前系统的时间戳，意味着此帧的当前系统时间戳是 1739874543327。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">e50</span></code>：此帧的曝光为 50。</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">d16</span></code>：此帧的增益为 16。</p></li>
|
||||
</ul>
|
||||
<p><strong>分析相机图像数据</strong></p>
|
||||
<p>您需要将修改后的 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python">Python 文件夹</a> 复制到新的 multi_camera_synced 子目录，并将修改后的 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt">DevicesInfo.txt</a> 和 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/StreamProfileInfo.txt">StreamProfileInfo.txt</a> 复制到与 TotalModeFrames 文件夹同级的目录。</p>
|
||||
<ul class="simple">
|
||||
<li><p>最后一切准备就绪，运行 python 脚本</p></li>
|
||||
</ul>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>multicamera_sync/Python
|
||||
python3<span class="w"> </span>SyncFramesMain.py
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>操作成功后，您可以在 <code class="docutils literal notranslate"><span class="pre">results</span> <span class="pre">文件夹</span></code> 中查看同步效果</p>
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="id5">
|
||||
<h2><span class="section-number">5.2.3.4. </span>需要更改的文件<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
|
||||
<p><strong>分析工具</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json">multi_save_rgbir_params.json</a></p></li>
|
||||
<li><p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/DevicesInfo.txt">DevicesInfo.txt</a></p></li>
|
||||
<li><p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini">Config.ini</a></p></li>
|
||||
</ul>
|
||||
<p><strong>相机配置</strong></p>
|
||||
<p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml">camera_params.yaml</a>（相机启动参数设置）</p>
|
||||
<p><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multi_camera_synced_verify.launch.py">multi_camera_synced_verify.launch.py</a></p>
|
||||
<h2><span class="section-number">5.2.3.2. </span>必要系统配置<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
|
||||
<section id="usb">
|
||||
<h3><span class="section-number">5.2.3.2.1. </span><strong>提升 USB 缓冲区容量</strong><a class="headerlink" href="#usb" title="Link to this heading"></a></h3>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">echo</span> <span class="mi">512</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="fast-dds">
|
||||
<h3><span class="section-number">5.2.3.2.2. </span><strong>配置 Fast DDS</strong><a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h3>
|
||||
<p>优化 ROS2 节点间通信延迟，可以有效减少图像传输延迟，<a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">配置过程见此章节</span></a>。</p>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
@@ -523,7 +537,7 @@ python3<span class="w"> </span>SyncFramesMain.py
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -409,7 +417,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -506,7 +514,7 @@ net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
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</div>
|
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|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -567,7 +575,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -400,7 +408,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -393,7 +401,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -496,7 +504,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -407,7 +415,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -430,7 +438,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -412,7 +420,7 @@ bash<span class="w"> </span>.make_deb.sh
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -393,7 +401,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -218,11 +218,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -1209,7 +1217,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -217,11 +217,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -426,7 +434,7 @@
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
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</div>
|
||||
|
||||
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+14
-6
@@ -216,11 +216,19 @@
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <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 class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
||||
@@ -379,7 +387,7 @@ language governing permissions and limitations under the License.</p>
|
||||
|
||||
<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.。
|
||||
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
|
||||
<span class="lastupdated">最后更新于 2025年11月17日 01:39:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user