Update docs and delete timed sync

2026-10-08 13:57:46 +08:00 · 2024-12-24 17:28:04 +08:00
parent 7faab8f0bc
commit 88c04e2742
5 changed files with 191 additions and 20 deletions
@@ -1,5 +1,3 @@
-<!-- docs/source/3_start_single_camera/start_single_camera.md -->
-
 # Single camera

 This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS 2.
@@ -27,6 +25,42 @@ source install/setup.bash
 ros2 launch orbbec_camera orbbec_camera.launch.py config_file_path:=gemini330_series.yaml
 ```

+config_file_path:=gemini330_series.yaml means orbbec_camera.launch.py uses the parameters set in gemini330_series.yaml
+
+## Launch parameters
+
+For the definition and function of launch parameters, please refer to common.yaml. All open parameters are in common.yaml.The following is a partial common.yaml display:
+
+```yaml
+# config/*.yaml files are used to configure the camera parameters
+---
+orbbec_ros:
+    camera_parameters:
+        general:
+            # Camera model. upport product models by referencing config/*.yaml
+            camera_model: "gemini330_series"
+            # The configuration file for yaml params.
+            config_file_path: "gemini330_series.yaml"
+            # Log level. Supported levels are 'debug', 'info', 'warning' and 'error'. Default is 'none'.
+            log_level: "none"
+
+        deivce:
+            # camera name, usually overwritten by launch file
+            camera_name: "camera"
+            # camera serial number, usually overwritten by launch file
+            serial_number: ""
+            # The USB port of the camera. This parameter is required when using multiple cameras.
+            usb_port: ""
+            # Number of devices. If multiple cameras are required, this parameter must be filled in launch file
+            device_num: 1
+            # Optional values: v4l2, libuvc
+            uvc_backend: "libuvc"
+            # Usually no need to change
+            vendor_id: "0x2bc5"
+```
+
+Notice:If you run orbbec_camera.launch.py, the default combination of launch parameters used is common.yaml+gemini330_series.yaml, and the parameters in gemini330_series.yaml have higher priority than common.yaml
+
 ## Visualizing data in rviz2

 - view_display launch
@@ -113,7 +147,7 @@ Save point cloud:
 ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}"
 ```

-&nbsp;
+ 

 ## Example visualizations

@@ -123,13 +157,101 @@ Here are examples of how the visualization might appear in rviz2:

 ![PointCloud View](../image/image1.jpg)

-&nbsp;
+ 

 - **Image Data Visualization**

 ![Image Data View](../image/image2.jpg)

-&nbsp;
+ 
+
+## Aligning Depth to Color
+
+### Commands to Align and View Depth and Color Images
+
+1. **Basic Depth to Color Alignment:**
+   To simply align the depth image to the color image, use the following command:
+
+   ```shell
+   ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true
+   ```
+
+   This command activates the depth registration feature without opening a viewer.
+2. **Viewing Depth to Color Overlay:**
+   If you wish to view the depth to color overlay, you need to enable the viewer by using the command below:
+
+   ```shell
+   ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true enable_d2c_viewer:=true
+   ```
+
+   This launches the camera node with depth to color registration and opens a viewer to display the overlay image.
+
+### Selecting Topics in RViz2
+
+To visualize the aligned images in RViz2:
+
+1. Launch RViz2 after running one of the above commands.
+2. Select the topic for the depth to color overlay image. An example topic selection is shown here:
+
+![D2C topic](../image/image3.png)
+
+### Example of Depth to Color Overlay
+
+After selecting the appropriate topic in RViz2, you will be able to see the depth to color overlay image. Here's what it might look like:
+
+![D2C VIEW](../image/image4.jpg)
+
+## Enabling and Visualizing Point Cloud
+
+### Enabling Depth Point Cloud
+
+#### Command to Enable Depth Point Cloud
+
+To activate the point cloud data stream for depth information, use the following command:
+
+```shell
+ros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true
+```
+
+#### Visualizing Depth Point Cloud in RViz2
+
+After running the above command, perform the following steps to visualize the depth point cloud:
+
+1. Open RViz2.
+2. Add a `PointCloud2` display.
+3. Select the `/camera/depth/points` topic for visualization.
+4. Set the fixed frame to `camera_link` to properly align the data
+
+#### Example Visualization
+
+Here is what the depth point cloud might look like in RViz2:
+
+![Depth Point VIEW](../image/image5.jpg)
+
+### Enabling Colored Point Cloud
+
+#### Command to Enable Colored Point Cloud
+
+To enable the colored point cloud feature, enter the following command:
+
+```shell
+ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
+```
+
+#### Visualizing Colored Point Cloud in RViz2
+
+To visualize the colored point cloud data:
+
+1. Launch RViz2 following the command execution.
+2. Add a `PointCloud2` display panel.
+3. Choose the `/camera/depth_registered/points` topic from the list.
+4. Ensure the fixed frame is set to `camera_link`.
+
+#### Example Visualization
+
+The result of the colored point cloud in RViz2 should look similar to this:
+
+![Color Point VIEW](../image/image6.jpg)

 ## TF tree diagram

@@ -139,7 +261,7 @@ To get the TF tree
 ros2 run rqt_tf_tree rqt_tf_tree --force-discover
 ```

-&nbsp;
+ 

 The TF tree diagram for the OrbbecSDK_ROS2 is illustrated below:
-![single_cam_tf.png](../image/single_cam_tf.png)
+![single_cam_tf.png](../image/single_cam_tf.png) `<!-- docs/source/3_start_single_camera/start_single_camera.md -->`