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<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>4.8. 在ROS 2中启用和可视化点云 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<title>4.6. 在ROS 2中启用和可视化点云 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
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<link rel="index" title="索引" href="../../genindex.html" />
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<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#tf">4.4.1.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.4.1.2. 使用rviz2可视化TF树</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf">4.4.1.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">4.4.1.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#id2">4.4.2.2. 函数解析</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.2.2. 函数解析</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.3. 相机传感器结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#abtf">4.4.4. 从坐标系A到坐标系B的TF变换：</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id1">4.6.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id2">4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="#id3">4.8.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id3">4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id4">4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
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@@ -350,7 +350,7 @@
<ul class="wy-breadcrumbs">
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>应用指南</a></li>
<li class="breadcrumb-item active"><span class="section-number">4.8. </span>在ROS 2中启用和可视化点云</li>
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@@ -361,19 +361,19 @@
<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="ros-2">
<h1><span class="section-number">4.8. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.6. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
<p>本节演示如何从相机节点启用点云数据输出并使用RViz2进行可视化。</p>
<section id="id1">
<h2><span class="section-number">4.8.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.6.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<section id="id2">
<h3><span class="section-number">4.8.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.6.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<p>要激活深度信息的点云数据流，使用以下命令：</p>
<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>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="rviz2">
<h3><span class="section-number">4.8.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.6.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<p>运行上述命令后，执行以下步骤可视化深度点云：</p>
<ol class="simple">
<li><p>打开RViz2。</p></li>
@@ -389,16 +389,16 @@
</section>
</section>
<section id="id3">
<h2><span class="section-number">4.8.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.6.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<section id="id4">
<h3><span class="section-number">4.8.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.6.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<p>要启用彩色点云功能，输入以下命令：</p>
<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>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="id5">
<h3><span class="section-number">4.8.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.6.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<p>要可视化彩色点云数据：</p>
<ol class="simple">
<li><p>执行命令后启动RViz2。</p></li>
@@ -419,7 +419,7 @@
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