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@@ -189,12 +189,12 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
| Gemini 210 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | gemini210.launch.py |
| Gemini 2 | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | gemini2.launch.py |
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
| Femto Bolt | [1.1.3](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
| Femto Mega | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | femto_mega.launch.py |
| Femto Mega I | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | femto_mega.launch.py |
| Astra 2 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip) | astra2.launch.py |
| Gemini 345 | 1.7.12 | gemini345.launch.py |
| Gemini 345Lg | 1.7.12 | gemini345_lg.launch.py |
| Gemini 345 | 1.9.03 | gemini345.launch.py |
| Gemini 345Lg | 1.9.03 | gemini345_lg.launch.py |
| Pulsar SL450 | 2.2.4.5 | lidar.launch.py |
| Pulsar ME450 | 1.0.0.6 | lidar.launch.py |
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@@ -34,7 +34,7 @@
| **产品列表** | **下载链接** | 最新版本 |
| ------------------ | -------------------------------------------------------------------------------------------------- | ---------- |
| Femto Bolt | [Femto Bolt 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | v1.1.2 |
| Femto Bolt | [Femto Bolt 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | v1.1.3 |
| Femto Mega | [Femto Mega 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | v1.3.1 |
| Gemini 2 | [Gemini 2 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | v1.4.98 |
| Gemini 2 L | [Gemini 2L 固件](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | v1.5.02 |
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@@ -38,16 +38,21 @@
* 启用无效点云过滤。
* **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`**
* ROS 2消息服务质量（QoS）设置。可能的值为 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`、`SENSOR_DATA`，不区分大小写。这些分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters` 和 `SENSOR_DATA`。
* **`color.image_raw.enable_pub_plugins`**
* 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
* **`depth.image_raw.enable_pub_plugins`**
* 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。
* **`left_ir.image_raw.enable_pub_plugins`**
* 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
* **`right_ir.image_raw.enable_pub_plugins`**
* 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
* **`point_cloud_decimation_filter_factor`**
* 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。
* **`color.image_raw.enable_pub_plugins`**
* 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
> **支持版本**： wrapper version 2.6.3 及以上。
* **`depth.image_raw.enable_pub_plugins`**
* 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。
> **支持版本**： wrapper version 2.6.3 及以上。
* **`left_ir.image_raw.enable_pub_plugins`**
* 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
> **支持版本**： wrapper version 2.6.3 及以上。
* **`right_ir.image_raw.enable_pub_plugins`**
* 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
> **支持版本**： wrapper version 2.6.3 及以上。
* **`point_cloud_decimation_filter_factor`**
* 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。
> **支持版本**： wrapper version 2.6.3 及以上。
### 传感器控制
@@ -83,9 +88,9 @@
#### 深度流
* **`enable_depth_auto_exposure_priority`**
* 启用深度自动曝光优先级。
* **`mean_intensity_set_point`**
* 设置开启自动曝光时深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。
> **注意：** 这取代了已弃用的 `depth_brightness`，后者仍支持以保持向后兼容性。
* **`mean_intensity_set_point`**
* 设置开启自动曝光时深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。
> **注意：** 在 2.4.7 版本之后，该参数取代已弃用的 `depth_brightness`，但为了向后兼容，仍会支持 `depth_brightness`。
* **`enable_depth_scale`**
* 设置D2C后是否启用深度缩放。`true`表示启用，默认为`true`。
* **`depth_precision`**
@@ -132,42 +137,55 @@
> 用于 [多相机同步](../5_advanced_guide/multi_camera/multi_camera_synced.md)。
#### 网络相机
* **`enumerate_net_device`**
* 启用自动枚举网络设备。
* **`net_device_ip`** / **`net_device_port`**
* 设置网络设备的IP地址和端口（通常为 `8090`）。
* **`force_ip_enable`**
* 启用强制IP功能。**默认值：** `false`
* **`force_ip_mac`**
* 连接多个相机时的目标设备MAC地址（例如，`"54:14:FD:06:07:DA"`）。您可以使用 `list_devices_node` 查找每个设备的MAC。**默认值：** `""`
* **`force_ip_address`**
* 要分配的静态IP地址。**默认值：** `192.168.1.10`
* **`force_ip_subnet_mask`**
* 静态IP的子网掩码。**默认值：** `255.255.255.0`
* **`force_ip_gateway`**
* 静态IP的网关地址。**默认值：** `192.168.1.1`
* **`enumerate_net_device`**
* 启用自动枚举网络设备。
* **`net_device_ip`** / **`net_device_port`**
* 设置网络设备的IP地址和端口（通常为 `8090`）。
* **`force_ip_enable`**
* 启用强制IP功能。**默认值：** `false`
> **支持版本**： wrapper version 2.5.4 及以上。
* **`force_ip_mac`**
* 连接多个相机时的目标设备MAC地址（例如，`"54:14:FD:06:07:DA"`）。您可以使用 `list_devices_node` 查找每个设备的MAC。**默认值：** `""`
> **支持版本**： wrapper version 2.5.4 及以上。
* **`force_ip_address`**
* 要分配的静态IP地址。**默认值：** `192.168.1.10`
> **支持版本**： wrapper version 2.5.4 及以上。
* **`force_ip_subnet_mask`**
* 静态IP的子网掩码。**默认值：** `255.255.255.0`
> **支持版本**： wrapper version 2.5.4 及以上。
* **`force_ip_gateway`**
* 静态IP的网关地址。**默认值：** `192.168.1.1`
> **支持版本**： wrapper version 2.5.4 及以上。
> 用于 [网络相机](../5_advanced_guide/configuration/net_camera.md)。
#### 设备特定
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* 启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
* **`preset_resolution_config`**
* 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 仅在 Gemini435Le 设备上受支持。留空禁用。
* **`enable_ptp_config`**
* 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。
> **支持模组**：Gemini 335Le。
> **支持版本**： wrapper version 2.3.4 及以上。
* **`preset_resolution_config`**
* 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 留空禁用。
> **支持模组**：Gemini 435Le。
> **支持版本**： wrapper version 2.6.3 及以上。
* **`ae_mode`**
* `colorbased`：自动曝光基于彩色流。`depthbased`：自动曝光基于深度流。**默认值：** `depthbased`
> 仅支持Gemini 305。
>
> **支持模组**：Gemini 305。
> **支持版本**： wrapper version 2.7.2 及以上。
* **`enalbe_sports_mode`**
* 是否开启运动模式。**默认值：** `false`
> 仅支持Gemini 305。
>
> **支持模组**：Gemini 305。
> **支持版本**： wrapper version 2.7.2 及以上。
* **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`**
* 设置下采样倍数。可用`ros2 run orbbec_camera list_camera_profile_mode_node`查看可设置分辨率。**默认值：** `1`
> 仅支持Gemini 305。
>
* **`enable_ptp_config`**
* 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。
> **支持模组**：Gemini 305。
> **支持版本**： wrapper version 2.7.2 及以上。
* **`enable_false_positive_filter`**
* 启用鬼影滤波。可减少重影噪声。
> **支持模组**： DaBaiA/DaBaiAL/Gemini345/Gemini345Lg.
> **支持版本**： wrapper version 2.7.6 及以上；firmware version 1.9.03 及以上。
#### 视差
* **`disparity_to_depth_mode`**
@@ -197,6 +215,7 @@
* `DEPTH`：将彩色对齐到深度。
- **`intra_camera_sync_reference`**
- 设置相机内同步的参考点。适用于Gemini 330系列设备，当 `sync_mode` 设置为**软件**或**硬件触发**模式时。**选项：** `Start`、`Middle`、`End`。设置为空时，长基线设备默认End，短基线设备默认Middle。
> **支持版本**： wrapper version 2.6.3 及以上。
### 基础与通用参数
@@ -227,18 +246,19 @@
* 启用主机时间与相机时间的同步。默认值为 `true`。如果使用全局时间，设置为 `false`。
* **`time_domain`**
* 选择时间戳类型：`device`、`global` 和 `system`。
* **`time_sync_period`**
* 相机时间与主机系统同步的间隔（秒）。
* **`time_sync_period`**
* 相机时间与主机系统同步的间隔（秒）。
> **注意**：仅当 **`enable_sync_host_time = true`** 且 **`time_domain = device`** 时需要设置此参数。
> **支持版本**： wrapper version 2.6.3 及以上。
* **`enable_frame_sync`**
* 启用帧同步。
#### 日志与诊断
* **`log_level`**
* SDK日志级别。默认为 `info`。可选值：`debug`、`info`、`warn`、`error`、`fatal`。
* **`log_file_name`**
* 保存的SDK日志文件名。当`log_level`为`debug`时生效。
* **`log_file_name`**
* 保存的SDK日志文件名。当`log_level`为`debug`时生效。
> **支持版本**： wrapper version 2.6.3 及以上。
* **`diagnostic_period`**
* 诊断周期（秒）。
* **`enable_heartbeat`**
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```bash
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
```
`/camera/get_laser_status`
* `/camera/get_laser_status`
```bash
ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
```
> **支持版本**： wrapper version 2.6.3 及以上。
* `/camera/set_ldp_enable` & `/camera/get_ldp_status`
```bash
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
@@ -231,12 +232,13 @@
### 特定设备
**Gemini 435L**
* `/camera/write_customer_data` & `/camera/read_customer_data`
```bash
ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
```
> **支持模组**：Gemini 435Le。
> **支持版本**： wrapper version 2.5.4 及以上。
* `/camera/set_user_calib_params` & `/camera/get_user_calib_params`
```bash
ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
@@ -257,25 +259,29 @@
-6.804073229432106e-06]}'
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
```
**Gemini 305**
> **支持模组**：Gemini 435Le。
> **支持版本**： wrapper version 2.5.4 及以上。
* `/camera/set_ae_mode`
```bash
# depthbased or colorbased
ros2 service call /camera/set_ae_mode orbbec_camera_msgs/srv/SetString "data: depthbased"
```
> **支持模组**：Gemini 305。
> **支持版本**： wrapper version 2.7.2 及以上。
* `/camera/set_sports_mode`
```bash
ros2 service call /camera/set_sports_mode std_srvs/srv/SetBool "data: true"
```
> **支持模组**：Gemini 305。
> **支持版本**： wrapper version 2.7.2 及以上。
### 点云下采样
* `/camera/set_point_cloud_decimation`
```bash
ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
```
> **支持版本**： wrapper version 2.6.3 及以上。
* `/camera/get_point_cloud_decimation`
```bash
ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
```
> **支持版本**： wrapper version 2.6.3 及以上。
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**`set_device_ip`** 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置，包括在 DHCP 和静态 IP 之间切换，以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。
> **注意：**使用 `set_device_ip` 应用的 IP 设置是**永久性的**，如果设备断电或重启，**不会重置**。
> **支持版本**： wrapper version 2.6.3 及以上。
**示例用法**
@@ -74,6 +75,7 @@ ros2 run orbbec_camera set_device_ip --ros-args \
**强制 IP** 功能允许您为网络相机分配**静态 IP 地址**，覆盖 DHCP 设置。当连接多个网络相机时，这非常有用，您需要每个设备具有固定的 IP 以实现可靠的通信。
> **注意：**如果设备断电或重启，强制 IP 配置**将被重置**。您需要在重启后重新应用设置。
> **支持版本**： wrapper version 2.6.3 及以上。
**参数**
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| Close Range High Accuracy | 可调更大视差搜索范围，Mini-Z减小<br> 其余表现与High Accuracy保持一致 |
| Dual Color Streams | 支持左右彩色同时出流，无深度IR信息<br> 左右路输出效果一致 |
| Custom | 自定义修改，例如后处理管道的新配置、深度AE功能的修改 |
> 由于 `Dual Color Streams` 模式的参数配置与 `Default` 模式差异较大，我们提供了对应的 YAML 配置文件。
请将 `config_file_path` 设置为 `gemini305_dual_color`，该配置文件位于 config 目录下。
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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。
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。
> **支持版本**： wrapper version 2.6.3 及以上。
---
## 使用教程
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性能基准测试
======================================================
本章介绍如何使用性能基准测试工具，并提供不同相机的测试结果。
本章介绍如何使用性能基准测试工具来测试不同相机的性能。
.. toctree::
:maxdepth: 2
introduction.md
benchmark_usage.md
benchmark_data.md
othertools.md
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# 性能基准测试数据
本节记录了使用性能基准测试工具测试不同相机的数据。点击链接下载 xlsx 数据。
## 通用基准测试数据
使用默认启动文件运行 `common_benchmark_node` 并测试 1 小时的数据。
- [通用基准测试数据](../../_static/ros2_common_benchmark_data.xlsx)
## 服务基准测试数据
使用默认启动文件分别运行 `service_benchmark_node` 和 `service_benchmark_node.py`。每个服务调用 10 次，并记录数据。
- [服务基准测试数据 C++](../../_static/ros2_service_benchmark_cpp.xlsx)
- [服务基准测试数据 Python](../../_static/ros2_service_benchmark_python.xlsx)
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</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
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<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
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<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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</div>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
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+7 -12
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@@ -294,17 +294,12 @@
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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</div>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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</div>
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+7 -12
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</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -775,7 +770,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/launch_parameters.html
+125 -56
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -496,28 +491,48 @@
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
<ul class="simple">
<li><p>启用彩色图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p></li>
<ul>
<li><p>启用彩色图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
<ul class="simple">
<li><p>启用深度图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</span></code>。</p></li>
<ul>
<li><p>启用深度图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</span></code>。</p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
<ul class="simple">
<li><p>启用左红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p></li>
<ul>
<li><p>启用左红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
<ul class="simple">
<li><p>启用右红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p></li>
<ul>
<li><p>启用右红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
<ul class="simple">
<li><p>点云下采样因子。范围：<code class="docutils literal notranslate"><span class="pre">1–8</span></code>，<code class="docutils literal notranslate"><span class="pre">1</span></code>表示不下采样，数值越大下采样倍数越大。</p></li>
<ul>
<li><p>点云下采样因子。范围：<code class="docutils literal notranslate"><span class="pre">1–8</span></code>，<code class="docutils literal notranslate"><span class="pre">1</span></code>表示不下采样，数值越大下采样倍数越大。</p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
</ul>
@@ -603,13 +618,14 @@
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point</span></code></strong></p>
<ul class="simple">
<li><p>设置开启自动曝光时深度图像的目标平均强度。例如：<code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>。</p></li>
</ul>
<ul>
<li><p>设置开启自动曝光时深度图像的目标平均强度。例如：<code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>。</p>
<blockquote>
<div><p><strong>注意：</strong> 这取代了已弃用的 <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>，后者仍支持以保持向后兼容性。</p>
<div><p><strong>注意：</strong> 在 2.4.7 版本之后，该参数取代已弃用的 <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>，但为了向后兼容，仍会支持 <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
<ul class="simple">
<li><p>设置D2C后是否启用深度缩放。<code class="docutils literal notranslate"><span class="pre">true</span></code>表示启用，默认为<code class="docutils literal notranslate"><span class="pre">true</span></code>。</p></li>
@@ -720,40 +736,60 @@
</section>
<section id="id9">
<h3><span class="section-number">4.1.3.2. </span>网络相机<a class="headerlink" href="#id9" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
<ul class="simple">
<li><p>启用自动枚举网络设备。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>设置网络设备的IP地址和端口（通常为 <code class="docutils literal notranslate"><span class="pre">8090</span></code>）。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_enable</span></code></strong></p>
<ul>
<li><p>启用强制IP功能。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p></li>
<li><p>启用强制IP功能。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_mac</span></code></strong></p>
<ul>
<li><p>连接多个相机时的目标设备MAC地址（例如，<code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>）。您可以使用 <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> 查找每个设备的MAC。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p></li>
<li><p>连接多个相机时的目标设备MAC地址（例如，<code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>）。您可以使用 <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> 查找每个设备的MAC。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_address</span></code></strong></p>
<ul>
<li><p>要分配的静态IP地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p></li>
<li><p>要分配的静态IP地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_subnet_mask</span></code></strong></p>
<ul>
<li><p>静态IP的子网掩码。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p></li>
<li><p>静态IP的子网掩码。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_gateway</span></code></strong></p>
<ul>
<li><p>静态IP的网关地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p></li>
<li><p>静态IP的网关地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
</ul>
@@ -769,16 +805,32 @@
<li><p>启用gmsl触发输出信号 / 设置gmsl触发fps。用于 <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl相机</span></a>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
<ul>
<li><p>启用PTP时间同步。仅适用于Gemini 335Le。需要 <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。</p>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 335Le。
<strong>支持版本</strong>： wrapper version 2.3.4 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
<ul class="simple">
<li><p>摄像头设备的预设分辨率配置。格式: &quot;width,height,ir_decimation_factor,depth_decimation_factor&quot;. Example: &quot;1280,720,4,4&quot;. 仅在 Gemini435Le 设备上受支持。留空禁用。</p></li>
<ul>
<li><p>摄像头设备的预设分辨率配置。格式: &quot;width,height,ir_decimation_factor,depth_decimation_factor&quot;. Example: &quot;1280,720,4,4&quot;. 留空禁用。</p>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 435Le。
<strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ae_mode</span></code></strong></p>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">colorbased</span></code>：自动曝光基于彩色流。<code class="docutils literal notranslate"><span class="pre">depthbased</span></code>：自动曝光基于深度流。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">depthbased</span></code></p>
<blockquote>
<div><p>仅支持Gemini 305。</p>
<div><p><strong>支持模组</strong>：Gemini 305。
<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
</div></blockquote>
</li>
</ul>
@@ -787,7 +839,8 @@
<ul>
<li><p>是否开启运动模式。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p>
<blockquote>
<div><p>仅支持Gemini 305。</p>
<div><p><strong>支持模组</strong>：Gemini 305。
<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
</div></blockquote>
</li>
</ul>
@@ -796,14 +849,20 @@
<ul>
<li><p>设置下采样倍数。可用<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_camera_profile_mode_node</span></code>查看可设置分辨率。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">1</span></code></p>
<blockquote>
<div><p>仅支持Gemini 305。</p>
<div><p><strong>支持模组</strong>：Gemini 305。
<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
<ul class="simple">
<li><p>启用PTP时间同步。仅适用于Gemini 335Le。需要 <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。</p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_false_positive_filter</span></code></strong></p>
<ul>
<li><p>启用鬼影滤波。可减少重影噪声。</p>
<blockquote>
<div><p><strong>支持模组</strong>： DaBaiA/DaBaiAL/Gemini345/Gemini345Lg.
<strong>支持版本</strong>： wrapper version 2.7.6 及以上；firmware version 1.9.03 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
</ul>
@@ -846,19 +905,19 @@
</section>
<section id="id12">
<h3><span class="section-number">4.1.3.6. </span>相机内同步<a class="headerlink" href="#id12" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
<ul class="simple">
<li><p>启用深度帧与彩色帧的对齐。当 <code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时需要此字段。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">align_mode</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>要使用的对齐模式。选项为 <code class="docutils literal notranslate"><span class="pre">HW</span></code>（硬件对齐）和 <code class="docutils literal notranslate"><span class="pre">SW</span></code>（软件对齐）。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">align_target_stream</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>设置对齐目标流模式。</p></li>
<li><p>可能的值为 <code class="docutils literal notranslate"><span class="pre">COLOR</span></code>、<code class="docutils literal notranslate"><span class="pre">DEPTH</span></code>。</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">COLOR</span></code>：将深度对齐到彩色。</p></li>
@@ -867,7 +926,11 @@
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">intra_camera_sync_reference</span></code></strong></p>
<ul>
<li><p>设置相机内同步的参考点。适用于Gemini 330系列设备，当 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为<strong>软件</strong>或<strong>硬件触发</strong>模式时。<strong>选项：</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>、<code class="docutils literal notranslate"><span class="pre">Middle</span></code>、<code class="docutils literal notranslate"><span class="pre">End</span></code>。设置为空时，长基线设备默认End，短基线设备默认Middle。</p></li>
<li><p>设置相机内同步的参考点。适用于Gemini 330系列设备，当 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为<strong>软件</strong>或<strong>硬件触发</strong>模式时。<strong>选项：</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>、<code class="docutils literal notranslate"><span class="pre">Middle</span></code>、<code class="docutils literal notranslate"><span class="pre">End</span></code>。设置为空时，长基线设备默认End，短基线设备默认Middle。</p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
</ul>
@@ -944,13 +1007,15 @@
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">time_sync_period</span></code></strong></p>
<ul class="simple">
<li><p>相机时间与主机系统同步的间隔（秒）。</p></li>
</ul>
<ul>
<li><p>相机时间与主机系统同步的间隔（秒）。</p>
<blockquote>
<div><p><strong>注意</strong>：仅当 <strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code></strong> 且 <strong><code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code></strong> 时需要设置此参数。</p>
<div><p><strong>注意</strong>：仅当 <strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code></strong> 且 <strong><code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code></strong> 时需要设置此参数。
<strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_frame_sync</span></code></strong></p>
<ul class="simple">
<li><p>启用帧同步。</p></li>
@@ -960,24 +1025,28 @@
</section>
<section id="id16">
<h3><span class="section-number">4.1.4.4. </span>日志与诊断<a class="headerlink" href="#id16" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
<ul class="simple">
<li><p>SDK日志级别。默认为 <code class="docutils literal notranslate"><span class="pre">info</span></code>。可选值：<code class="docutils literal notranslate"><span class="pre">debug</span></code>、<code class="docutils literal notranslate"><span class="pre">info</span></code>、<code class="docutils literal notranslate"><span class="pre">warn</span></code>、<code class="docutils literal notranslate"><span class="pre">error</span></code>、<code class="docutils literal notranslate"><span class="pre">fatal</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_file_name</span></code></strong></p>
<ul>
<li><p>保存的SDK日志文件名。当<code class="docutils literal notranslate"><span class="pre">log_level</span></code>为<code class="docutils literal notranslate"><span class="pre">debug</span></code>时生效。</p></li>
<li><p>保存的SDK日志文件名。当<code class="docutils literal notranslate"><span class="pre">log_level</span></code>为<code class="docutils literal notranslate"><span class="pre">debug</span></code>时生效。</p>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">diagnostic_period</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>诊断周期（秒）。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>启用心跳功能。默认为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。如果为 <code class="docutils literal notranslate"><span class="pre">true</span></code>，相机节点将向固件发送心跳信号。</p></li>
</ul>
</li>
@@ -1117,7 +1186,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/point_cloud.html
+7 -12
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -479,7 +474,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/services.html
+34 -17
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -574,10 +569,14 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<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>/camera/set_laser_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
</pre></div>
</div>
<p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
<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>/camera/get_laser_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ldp_enable</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_ldp_status</span></code></p>
<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>/camera/set_ldp_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -706,13 +705,16 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</section>
<section id="id12">
<h2><span class="section-number">4.2.7. </span>特定设备<a class="headerlink" href="#id12" title="链接到此标题。"></a></h2>
<p><strong>Gemini 435L</strong></p>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/write_customer_data</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/read_customer_data</span></code></p>
<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>/camera/write_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">&#39;{data: &quot;string&quot;}&#39;</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/read_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/GetString<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 435Le。
<strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_user_calib_params</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_user_calib_params</span></code></p>
<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>/camera/set_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/SetUserCalibParams<span class="w"> </span><span class="se">\</span>
@@ -734,20 +736,29 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/GetUserCalibParams<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 435Le。
<strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
</ul>
<p><strong>Gemini 305</strong></p>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ae_mode</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span><span class="c1"># depthbased or colorbased</span>
<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ae_mode<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s2">&quot;data: depthbased&quot;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 305。
<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sports_mode</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_sports_mode<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s2">&quot;data: true&quot;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 305。
<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
</div></blockquote>
</li>
</ul>
</section>
@@ -758,11 +769,17 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<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>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_point_cloud_decimation</span></code></p>
<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>/camera/get_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</section>
@@ -780,7 +797,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/topics.html
+7 -12
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -544,7 +539,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/advanced_guide.html
+7 -12
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -527,7 +522,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -463,7 +458,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
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+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -437,7 +432,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -455,7 +450,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -519,7 +514,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -483,7 +478,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html
+11 -14
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -456,7 +451,8 @@
<h2><span class="section-number">5.3.7.2. </span>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="链接到此标题。"></a></h2>
<p><strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置，包括在 DHCP 和静态 IP 之间切换，以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。</p>
<blockquote>
<div><p><strong>注意：<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>，如果设备断电或重启，<strong>不会重置</strong>。</p>
<div><p><strong>注意：<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>，如果设备断电或重启，<strong>不会重置</strong>。
<strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
<p><strong>示例用法</strong></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>set_device_ip<span class="w"> </span>--ros-args<span class="w"> </span><span class="se">\</span>
@@ -480,7 +476,8 @@
<h2><span class="section-number">5.3.7.3. </span>强制 IP 功能<a class="headerlink" href="#ip" title="链接到此标题。"></a></h2>
<p><strong>强制 IP</strong> 功能允许您为网络相机分配<strong>静态 IP 地址</strong>，覆盖 DHCP 设置。当连接多个网络相机时，这非常有用，您需要每个设备具有固定的 IP 以实现可靠的通信。</p>
<blockquote>
<div><p><strong>注意：<strong>如果设备断电或重启，强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。</p>
<div><p><strong>注意：<strong>如果设备断电或重启，强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。
<strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
<p><strong>参数</strong></p>
<ul class="simple">
@@ -519,7 +516,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html
+12 -21
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -564,16 +559,12 @@
<td>Custom</td>
<td>自定义修改，例如后处理管道的新配置、深度AE功能的修改</td>
</tr>
<tr>
<td>&gt; 由于 <code>Dual Color Streams</code> 模式的参数配置与 <code>Default</code> 模式差异较大，我们提供了对应的 YAML 配置文件。</td>
<td></td>
</tr>
<tr>
<td>请将 <code>config_file_path</code> 设置为 <code>gemini305_dual_color</code>，该配置文件位于 config 目录下。</td>
<td></td>
</tr>
</tbody>
</table></section>
</table><blockquote>
<div><p>由于 <code class="docutils literal notranslate"><span class="pre">Dual</span> <span class="pre">Color</span> <span class="pre">Streams</span></code> 模式的参数配置与 <code class="docutils literal notranslate"><span class="pre">Default</span></code> 模式差异较大，我们提供了对应的 YAML 配置文件。
请将 <code class="docutils literal notranslate"><span class="pre">config_file_path</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">gemini305_dual_color</span></code>，该配置文件位于 config 目录下。</p>
</div></blockquote>
</section>
<section id="id2">
<h2><span class="section-number">5.3.6.6. </span>扩展预设<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
<section id="g33x-close-range-high-accuracy-gemini-330-gemini-335-gemini-336">
@@ -627,7 +618,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -489,7 +484,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
+7 -12
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -518,7 +513,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -506,7 +501,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
+10 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -417,6 +412,9 @@
<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>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
<hr class="docutils" />
<section id="id2">
<h2><span class="section-number">5.2.3.1. </span>使用教程<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
@@ -580,7 +578,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
+7 -12
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -460,7 +455,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
+7 -12
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
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<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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</li>
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. 其他工具</a><ul>
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<li class="toctree-l5"><a class="reference internal" href="othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
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<li class="toctree-l5"><a class="reference internal" href="othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
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<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
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<h1><span class="section-number">6. </span>性能基准测试<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<p>本章介绍如何使用性能基准测试工具，并提供不同相机的测试结果。</p>
<p>本章介绍如何使用性能基准测试工具来测试不同相机的性能。</p>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="introduction.html">6.1. 介绍</a><ul>
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</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a></li>
<li class="toctree-l1"><a class="reference internal" href="othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a></li>
</ul>
</li>
</ul>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. 可用服务</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id12">4.2.7. 特定设备</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id13">4.2.8. 点云下采样</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
<li class="toctree-l5"><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-l4"><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-l5"><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></li>
<li class="toctree-l5"><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></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id3">5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 设备预设</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-330-gemini-330l-gemini-335-gemini-335l">5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-336-gemini-336l">5.3.6.2. Gemini 336 / Gemini 336L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-2">5.3.6.3. Gemini 2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-2l">5.3.6.4. Gemini 2L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#gemini-305">5.3.6.5. Gemini 305</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html#id2">5.3.6.6. 扩展预设</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">6. 性能基准测试</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 如何采集和保存日志</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt">8.7. femto bolt 深度流无数据</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id8">8.8. 图像未达到预设帧率</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#id9">8.9. 软触发模式相关问题</a></li>
</ul>
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@@ -402,7 +397,7 @@
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<h1><span class="section-number">6.4. </span>其他工具<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
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<h2><span class="section-number">6.4.1. </span>Ob_benchmark 工具<a class="headerlink" href="#ob-benchmark" title="链接到此标题。"></a></h2>
<h2><span class="section-number">6.3.1. </span>Ob_benchmark 工具<a class="headerlink" href="#ob-benchmark" title="链接到此标题。"></a></h2>
<blockquote>
<div><p>此工具的目标是对各种 OrbbecSDK_ROS2 相机配置的性能进行基准测试。基准测试结果取决于使用的相机和设置。（目前仅适用于 ROS2 Humble）</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>
<section id="start-benchmark-params-json">
<h3><span class="section-number">6.4.1.1. </span>工具配置 (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#start-benchmark-params-json" title="链接到此标题。"></a></h3>
<h3><span class="section-number">6.3.1.1. </span>工具配置 (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#start-benchmark-params-json" title="链接到此标题。"></a></h3>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;start_benchmark_params&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;camera_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
@@ -447,11 +442,11 @@
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<h3><span class="section-number">6.4.1.2. </span>相机配置（启动文件）<a class="headerlink" href="#id2" title="链接到此标题。"></a></h3>
<h3><span class="section-number">6.3.1.2. </span>相机配置（启动文件）<a class="headerlink" href="#id2" title="链接到此标题。"></a></h3>
<p>在 launch 文件夹中，有多个 .launch.py 文件（<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>、<code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>、...、<code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>）。每个文件对应不同的相机配置。</p>
</section>
<section id="id3">
<h3><span class="section-number">6.4.1.3. </span>运行 ob_benchmark 工具<a class="headerlink" href="#id3" title="链接到此标题。"></a></h3>
<h3><span class="section-number">6.3.1.3. </span>运行 ob_benchmark 工具<a class="headerlink" href="#id3" title="链接到此标题。"></a></h3>
<p>要运行该工具，请使用以下命令：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
@@ -459,7 +454,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
</div>
</section>
<section id="id4">
<h3><span class="section-number">6.4.1.4. </span>输出数据文件<a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
<h3><span class="section-number">6.3.1.4. </span>输出数据文件<a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
<p>输出数据文件将存储在 ob_benchmark 文件夹中，文件名如 <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>、<code class="docutils literal notranslate"><span class="pre">1.csv</span></code>、...、19.csv。例如：</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">0.csv</span></code> 包含来自 <code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code> 配置的数据。</p></li>
@@ -473,7 +468,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
</div>
</div>
<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
<a href="benchmark_data.html" class="btn btn-neutral float-left" title="6.3. 性能基准测试数据" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
<a href="benchmark_usage.html" class="btn btn-neutral float-left" title="6.2. 性能基准测试使用" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
<a href="../7_developer_guide/developer_guide.html" class="btn btn-neutral float-right" title="7. 开发者指南" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
</div>
@@ -481,7 +476,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
+7 -12
View File
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -463,7 +458,7 @@ bash<span class="w"> </span>.make_deb.sh
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/7_developer_guide/developer_guide.html
+9 -14
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@@ -23,7 +23,7 @@
<link rel="index" title="索引" href="../../../genindex.html" />
<link rel="search" title="搜索" href="../../../search.html" />
<link rel="next" title="7.1. 从 main 分支迁移到开源 v2-main 分支" href="migration_guide.html" />
<link rel="prev" title="6.4. 其他工具" href="../6_benchmark/othertools.html" />
<link rel="prev" title="6.3. 其他工具" href="../6_benchmark/othertools.html" />
</head>
<body class="wy-body-for-nav">
@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -436,7 +431,7 @@
</div>
</div>
<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
<a href="../6_benchmark/othertools.html" class="btn btn-neutral float-left" title="6.4. 其他工具" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
<a href="../6_benchmark/othertools.html" class="btn btn-neutral float-left" title="6.3. 其他工具" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
<a href="migration_guide.html" class="btn btn-neutral float-right" title="7.1. 从 main 分支迁移到开源 v2-main 分支" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
</div>
@@ -444,7 +439,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/7_developer_guide/migration_guide.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -1260,7 +1255,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/8_FAQ/FAQ.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -558,7 +553,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/camera_devices/index.html
+9 -19
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -538,13 +533,8 @@
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a></li>
<li class="toctree-l2"><a class="reference internal" href="6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a></li>
</ul>
</li>
</ul>
@@ -592,7 +582,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/license.html
+7 -12
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@@ -292,17 +292,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
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</li>
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@@ -429,7 +424,7 @@ language governing permissions and limitations under the License.</p>
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
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zh/source/lidar_devices/index.html
+7 -12
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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -434,7 +429,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>
zh/source/lidar_devices/lidar.html
+7 -12
View File
@@ -293,17 +293,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
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@@ -638,7 +633,7 @@ ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
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