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2026-03-24 07:49:16 +00:00
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zh/source/camera_devices/4_application_guide/application_guide.html
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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>
@@ -473,7 +468,7 @@
<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/compressed_image.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>
@@ -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/camera_devices/4_application_guide/coordinate_and_tf.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>
@@ -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
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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>
@@ -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>