diff --git a/en/.doctrees/environment.pickle b/en/.doctrees/environment.pickle index 45d09673..f9a61303 100644 Binary files a/en/.doctrees/environment.pickle and b/en/.doctrees/environment.pickle differ diff --git a/en/.doctrees/source/camera_devices/1_overview/introduction.doctree b/en/.doctrees/source/camera_devices/1_overview/introduction.doctree index ec988879..5bdf43c7 100644 Binary files a/en/.doctrees/source/camera_devices/1_overview/introduction.doctree and b/en/.doctrees/source/camera_devices/1_overview/introduction.doctree differ diff --git a/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree b/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree index 7cdd1d55..81beeac6 100644 Binary files a/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree and b/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree differ diff --git a/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree b/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree index d9a6eb37..fe6e78a1 100644 Binary files a/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree and b/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree differ diff --git a/en/_sources/source/camera_devices/1_overview/introduction.md.txt b/en/_sources/source/camera_devices/1_overview/introduction.md.txt index 8f5c6f12..24590672 100644 --- a/en/_sources/source/camera_devices/1_overview/introduction.md.txt +++ b/en/_sources/source/camera_devices/1_overview/introduction.md.txt @@ -186,6 +186,8 @@ To learn how to obtain and upgrade the latest firmware, [please click here](../3 | 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 | | Pulsar SL450 | 2.2.4.5 | lidar.launch.py | | Pulsar ME450 | 1.0.0.6 | lidar.launch.py | diff --git a/en/_sources/source/camera_devices/2_installation/build_the_package.md.txt b/en/_sources/source/camera_devices/2_installation/build_the_package.md.txt index 8db9a820..660e8ec4 100644 --- a/en/_sources/source/camera_devices/2_installation/build_the_package.md.txt +++ b/en/_sources/source/camera_devices/2_installation/build_the_package.md.txt @@ -12,7 +12,7 @@ sudo apt install libgflags-dev nlohmann-json3-dev \ ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \ -ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev +ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1 libgoogle-glog-dev ``` Enable ROS 2 auto-completion: diff --git a/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt b/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt index acaafb81..dbfe94b6 100644 --- a/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt +++ b/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt @@ -28,7 +28,8 @@ If the camera node crashes unexpectedly, it will generate a crash log in the cur ### Additional Troubleshooting - If you encounter other issues, set the `log_level` parameter to `debug`. This will generate an SDK log file in the running directory: `Log/OrbbecSDK.log.txt`. Please provide this file to the support team for further assistance. -- If firmware logs are required, set `enable_heartbeat` to `true` to activate this feature. +- If firmware logs are required, set the `log_level` parameter to `debug` and set `enable_heartbeat` to `true` to activate this feature. +- If you set the `log_level` parameter to `debug` and do not want the terminal to refresh too many logs, you can change `output="screen"` to `output="log"` in `launch`, and the logs will be saved in the `~/.ros/log` directory. ### Why Are There So Many Launch Files? @@ -75,3 +76,44 @@ This module depends on the OpenGL library at runtime. If OpenGL is not installed ```bash glxinfo -B ``` + +### The image does not reach the preset frame rate + +First you need to confirm whether the image does not reach the preset frame rate. There are several ways to view framerate in ROS 2, such as: + +* `ros2 topic hz` +* `rqt` +* Custom tools (such as the `benchmark` tool provided by this ROS package) + +It should be noted that different tools have different statistical methods and QoS configurations, so the frame rate results obtained may be different. When you find that the frame rate is lower than expected, please prioritize whether the error is caused by the frame rate statistics tool itself. + +If you confirm that the image frame rate does not reach the preset value, you can try the following troubleshooting steps: + +1. **Reduce the resolution or frame rate** to determine whether the frame rate is reduced due to USB/network bandwidth limitations; +2. **Confirm whether the camera firmware version and ROS package version are the latest**. Older versions may have performance or compatibility issues. + +If the above methods still cannot solve the problem, please contact our company **FAE**, or submit an issue in **GitHub Issue** for further support. + + +### Issues related to soft trigger mode + +* **Each sensor does not flow out at the same time when the signal is triggered** + Please enable the frame aggregation function and set the parameter `frame_aggregate_mode` to `full_frame` to ensure that multiple sensor data are output synchronously under the same trigger. + +* **The preset frame rate cannot be reached in auto trigger mode** + When setting `software_trigger_period`, you need to consider the actual open stream frame rate and exposure time. For example, when `color_fps` is set to 10 FPS, `software_trigger_period` cannot be lower than the following calculated value: + + ``` + software_trigger_period ≥ 1000000 / fps × N + 2 × expo + ``` + + Among them: + + * `fps`: sensor frame rate + * `N`: The number of frames collected in a single trigger + * `expo`: exposure time + * `Unit`: µs + + If `software_trigger_period` is set too small, the trigger frequency will be limited, resulting in frame loss. + + diff --git a/en/genindex.html b/en/genindex.html index 484918d6..0cfe5f18 100644 --- a/en/genindex.html +++ b/en/genindex.html @@ -333,6 +333,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -410,7 +412,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/index.html b/en/index.html index c8ca841f..f172e767 100644 --- a/en/index.html +++ b/en/index.html @@ -335,6 +335,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -454,6 +456,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -501,7 +505,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/objects.inv b/en/objects.inv index 73239861..990e1682 100644 Binary files a/en/objects.inv and b/en/objects.inv differ diff --git a/en/search.html b/en/search.html index bda6531f..14d634e0 100644 --- a/en/search.html +++ b/en/search.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -418,7 +420,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/searchindex.js b/en/searchindex.js index 6e3b7d11..9534bf7d 100644 --- a/en/searchindex.js +++ b/en/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles":{"Additional Troubleshooting":[[40,"additional-troubleshooting"]],"Adjusting System Parameters":[[30,"adjusting-system-parameters"]],"Advanced Guide":[[17,null]],"Advantages in Maintenance and Updates":[[39,"advantages-in-maintenance-and-updates"]],"Advantages of Migrating from main to v2-main":[[39,"advantages-of-migrating-from-main-to-v2-main"]],"Aligning Depth to Color in ROS 2":[[18,null]],"All Streams":[[15,"all-streams"]],"Application Guide":[[10,null]],"Available Topics":[[16,null]],"Available services":[[15,null]],"Basic & General Parameters":[[13,"basic-general-parameters"]],"Benchmark":[[32,null]],"Benchmark Data":[[33,null]],"Benchmark Usage":[[34,null]],"Binary Installation":[[6,"binary-installation"]],"Build from Source":[[4,"build-from-source"],[6,"build-from-source"]],"Build the 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V2 ROS2 Wrapper documentation","Introduction","Orbbec SDK Overview","Overview","Environment configuration","Installation","Registration Script (Required)","OrbbecViewer QuickStarts","ROS Package QuickStarts","Quickstarts","Application Guide","Compressed Image","Coordinate Systems and TF Transforms","Launch parameters","Enabling and Visualizing Point Cloud in ROS 2","Available services","Available Topics","Advanced Guide","Aligning Depth to Color in ROS 2","Configuration of depth NFOV and WFOV modes","Depth work mode switch","Disparity_search_offset","Using interleave_ae with Gemini330 series cameras","Net_camera","Predefined presets","GMSL_camera","Multi-Camera","Multi_camera synced Instructions","Multi-Camera Synchronization Verification Node","Efficient intra-process communication:","Fast DDS Optimization for Orbbec Camera with ROS2","Reducing CPU Usage with Orbbec ROS Package","Benchmark","Benchmark Data","Benchmark Usage","Introduction","Other Tools","Building a Debian 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Devices","Installation"],"titleterms":{"335le":23,"435le":23,"A":12,"All":15,"Are":40,"Between":39,"Further":31,"How":40,"Is":40,"It":40,"No":[26,40],"Other":36,"So":40,"The":40,"There":40,"When":40,"Which":44,"add":40,"addit":40,"adjust":30,"advanc":[13,17],"advantag":39,"ae":13,"aggreg":44,"align":18,"applic":[8,10],"architectur":2,"ask":40,"avail":[8,15,16],"b":12,"backend":13,"basic":13,"benchmark":[32,33,34,35],"benckmark":33,"binari":[4,6],"bolt":40,"branch":39,"breakdown":12,"buffer":28,"build":[4,6,8,37,44],"c":34,"calcandpublishstatictransform":12,"calcul":12,"calibr":[13,15],"call":8,"camera":[1,7,8,12,13,17,22,25,26,27,28,30,36,40,41],"captur":15,"check":[27,44],"cloud":[14,15,16,44],"color":[13,14,15,18],"command":[14,18,27],"common":[33,34,35],"communic":29,"communiti":39,"comparison":39,"comprehens":39,"compress":11,"concept":2,"configur":[4,13,15,17,19,27,28,30,34,36,37,44],"connect":[7,40,44],"control":[7,13,15],"coordin":12,"core":[12,13],"cpu":31,"crash":40,"data":[15,26,33,36,40,44],"datasheet":1,"dds":[28,30],"deb":44,"debian":37,"decim":15,"delay":40,"depend":[37,44],"depth":[13,14,15,18,19,20,40],"detail":44,"develop":38,"devic":[7,13,15,16,39,41,43,44],"diagnost":[13,16],"differ":39,"dispar":13,"disparity_search_offset":21,"document":0,"doe":40,"download":7,"driver":44,"echo":8,"ecosystem":39,"effici":29,"emitt":15,"enabl":14,"environ":[4,31,37],"exampl":[18,29,34,44],"extens":39,"extrins":13,"fast":[28,30],"featur":[8,13,44],"femto":[23,40],"file":[28,31,36,39,40],"filter":[13,15],"firmwar":[7,13],"first":8,"follow":[27,28],"forc":23,"format":44,"frame":[26,40],"frequent":40,"function":[12,21,23,44],"gemini":23,"gemini330":22,"general":13,"get":44,"gmsl":25,"gmsl_camera":25,"guid":[10,17,28,38],"hardwar":1,"imag":[11,16,18,26,40],"imu":[13,16,44],"increas":28,"inform":[7,15,44],"instal":[4,5,6,44],"instruct":27,"interleav":13,"interleave_a":22,"intra":[13,29],"introduct":[1,8,21,22,29,35,39],"ip":23,"ir":[13,15],"issu":40,"json":36,"laser":13,"launch":[8,13,21,22,28,31,36,39,40,44],"ldp":13,"licens":42,"lidar":[43,44],"limit":25,"linux":4,"list":8,"log":13,"low":26,"lower":31,"main":39,"mainten":39,"manag":15,"mani":40,"mechan":12,"mega":23,"memori":28,"migrat":39,"miscellan":13,"mode":[13,17,19,20,40],"model":2,"modifi":28,"multi":[13,17,25,26,27,28],"multi_camera":27,"multi_camera_sync":[22,28],"multipl":[26,40],"necessari":40,"net_camera":23,"network":13,"nfov":19,"node":[8,28,34,35,44],"ob_benchmark":36,"obcameranod":12,"open":39,"optic":12,"optim":[17,30],"optimizationa":31,"orbbec":[1,2,30,31],"orbbecsdk":0,"orbbecsdk_ros2":27,"orbbecview":7,"output":36,"overlay":18,"overview":[2,3],"packag":[4,8,31,37,44],"paramet":[8,13,21,22,30,39,44],"perform":17,"platform":1,"point":[14,15,16,44],"port":27,"predefin":24,"prepar":37,"prerequisit":44,"preset":[24,40],"process":29,"product":1,"program":2,"publish":12,"py":28,"python":34,"question":40,"quickstart":[7,8,9],"rate":[26,40],"reach":40,"recommend":31,"record":8,"reduc":31,"refer":28,"registr":6,"relat":40,"requir":[6,28],"result":31,"robot":12,"ros":[8,14,18,31,37],"ros2":[0,12,30,34],"rosbag2":8,"rule":44,"run":[21,22,27,36,44],"rviz2":[8,12,14,18],"sampl":8,"script":6,"sdk":2,"select":18,"sensor":[12,13,15],"seri":22,"servic":[8,15,33,34,35,39],"set":31,"set_device_ip":23,"setup":[27,31],"singl":25,"soft":40,"sourc":[4,6,8,39],"specif":[13,40],"start":[27,40],"start_benchmark_param":36,"status":16,"step":8,"stream":[13,15,16,26,40],"structur":12,"support":[1,39,44],"switch":[20,40],"sync":[13,25,27],"synchron":[13,15,28],"system":[12,28,30],"term":2,"test":31,"tf":[12,13],"time":13,"tool":[12,36],"topic":[8,16,18,26,39,44],"transform":12,"transpar":39,"tree":12,"trigger":[15,40],"troubleshoot":40,"udev":44,"unexpect":40,"updat":39,"upgrad":7,"usag":[25,28,31,34,44],"usb":28,"use":[12,22,31,34,44],"util":23,"v2":[0,2,39],"verif":28,"view":[12,18],"visual":[8,12,14],"vs":12,"wfov":19,"whi":40,"work":20,"workspac":8,"wrapper":0,"yaml":34}}) \ No newline at end of file diff --git a/en/source/camera_devices/1_overview/introduction.html b/en/source/camera_devices/1_overview/introduction.html index e446bf6c..87a8e012 100644 --- a/en/source/camera_devices/1_overview/introduction.html +++ b/en/source/camera_devices/1_overview/introduction.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -634,6 +636,16 @@ astra2.launch.py +Gemini 345 +1.7.12 +gemini345.launch.py + + +Gemini 345Lg +1.7.12 +gemini345_lg.launch.py + + Pulsar SL450 2.2.4.5 lidar.launch.py @@ -757,7 +769,7 @@ thead th {

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/1_overview/orbbecsdk_overview.html b/en/source/camera_devices/1_overview/orbbecsdk_overview.html index 52374afb..43a13975 100644 --- a/en/source/camera_devices/1_overview/orbbecsdk_overview.html +++ b/en/source/camera_devices/1_overview/orbbecsdk_overview.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -595,7 +597,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/1_overview/overview.html b/en/source/camera_devices/1_overview/overview.html index 44dfe6d2..2a76905e 100644 --- a/en/source/camera_devices/1_overview/overview.html +++ b/en/source/camera_devices/1_overview/overview.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -433,7 +435,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/2_installation/build_the_package.html b/en/source/camera_devices/2_installation/build_the_package.html index 4d98cd93..96aedeb7 100644 --- a/en/source/camera_devices/2_installation/build_the_package.html +++ b/en/source/camera_devices/2_installation/build_the_package.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -411,7 +413,7 @@ ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \ -ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev +ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1 libgoogle-glog-dev

    Enable ROS 2 auto-completion:

    @@ -466,7 +468,7 @@ colcon build --event-handlers

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/2_installation/installation.html b/en/source/camera_devices/2_installation/installation.html index 98658aa1..704e427c 100644 --- a/en/source/camera_devices/2_installation/installation.html +++ b/en/source/camera_devices/2_installation/installation.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -428,7 +430,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/2_installation/registration_script.html b/en/source/camera_devices/2_installation/registration_script.html index ed1ee956..eeadf027 100644 --- a/en/source/camera_devices/2_installation/registration_script.html +++ b/en/source/camera_devices/2_installation/registration_script.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -434,7 +436,7 @@ sudo udevadm control

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/3_quickstarts/orbbecviewer.html b/en/source/camera_devices/3_quickstarts/orbbecviewer.html index f329a69c..0fdf96ea 100644 --- a/en/source/camera_devices/3_quickstarts/orbbecviewer.html +++ b/en/source/camera_devices/3_quickstarts/orbbecviewer.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -497,7 +499,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/3_quickstarts/quickstart.html b/en/source/camera_devices/3_quickstarts/quickstart.html index b4d2993f..f552fa32 100644 --- a/en/source/camera_devices/3_quickstarts/quickstart.html +++ b/en/source/camera_devices/3_quickstarts/quickstart.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -505,7 +507,7 @@ ros2 param list

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/3_quickstarts/quickstarts.html b/en/source/camera_devices/3_quickstarts/quickstarts.html index bb26dd4c..7fcb042a 100644 --- a/en/source/camera_devices/3_quickstarts/quickstarts.html +++ b/en/source/camera_devices/3_quickstarts/quickstarts.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -433,7 +435,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/4_application_guide/application_guide.html b/en/source/camera_devices/4_application_guide/application_guide.html index dbaca365..5577552e 100644 --- a/en/source/camera_devices/4_application_guide/application_guide.html +++ b/en/source/camera_devices/4_application_guide/application_guide.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -460,7 +462,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/4_application_guide/compressed_image.html b/en/source/camera_devices/4_application_guide/compressed_image.html index 1b0a19c4..8b16399f 100644 --- a/en/source/camera_devices/4_application_guide/compressed_image.html +++ b/en/source/camera_devices/4_application_guide/compressed_image.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -422,7 +424,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/4_application_guide/coordinate_and_tf.html b/en/source/camera_devices/4_application_guide/coordinate_and_tf.html index 7f9b4673..ae017e2a 100644 --- a/en/source/camera_devices/4_application_guide/coordinate_and_tf.html +++ b/en/source/camera_devices/4_application_guide/coordinate_and_tf.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -749,7 +751,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/4_application_guide/launch_parameters.html b/en/source/camera_devices/4_application_guide/launch_parameters.html index e3d02721..813a871a 100644 --- a/en/source/camera_devices/4_application_guide/launch_parameters.html +++ b/en/source/camera_devices/4_application_guide/launch_parameters.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -1111,7 +1113,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/4_application_guide/point_cloud.html b/en/source/camera_devices/4_application_guide/point_cloud.html index 54114046..c61c5d16 100644 --- a/en/source/camera_devices/4_application_guide/point_cloud.html +++ b/en/source/camera_devices/4_application_guide/point_cloud.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -467,7 +469,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/4_application_guide/services.html b/en/source/camera_devices/4_application_guide/services.html index b37d5cac..e1e047c4 100644 --- a/en/source/camera_devices/4_application_guide/services.html +++ b/en/source/camera_devices/4_application_guide/services.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -753,7 +755,7 @@ ros2 service call

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/4_application_guide/topics.html b/en/source/camera_devices/4_application_guide/topics.html index 6504d949..e196a95e 100644 --- a/en/source/camera_devices/4_application_guide/topics.html +++ b/en/source/camera_devices/4_application_guide/topics.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -532,7 +534,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/advanced_guide.html b/en/source/camera_devices/5_advanced_guide/advanced_guide.html index be2e0f6b..d1afc2ac 100644 --- a/en/source/camera_devices/5_advanced_guide/advanced_guide.html +++ b/en/source/camera_devices/5_advanced_guide/advanced_guide.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -507,7 +509,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html b/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html index da7b1ff0..e4c4dbdc 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -451,7 +453,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html index 05b143b2..c8feb659 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -428,7 +430,7 @@ resolutions is as follows:

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html b/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html index e05c3490..0a7f30df 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -445,7 +447,7 @@ modify it, you can switch to the corresponding mode as needed.

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html b/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html index d0eff7df..3adca9ca 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -507,7 +509,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html b/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html index 3d915a95..74a8590c 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -471,7 +473,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html b/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html index ca1a6b67..7f1c7892 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -510,7 +512,7 @@ net_device_port:=8090

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html b/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html index 6e6f7898..54fc62e7 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -458,7 +460,7 @@ parameter.

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html b/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html index b3010fbc..9fae31f9 100644 --- a/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html +++ b/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -478,7 +480,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html index 0c165b88..f408131f 100644 --- a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html +++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -506,7 +508,7 @@ by running the following command:

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html index 2b76734f..29dd0e27 100644 --- a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html +++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -494,7 +496,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html index f84aba0b..56db575d 100644 --- a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html +++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -578,7 +580,7 @@ See

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html b/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html index 9e1f1049..5a18af57 100644 --- a/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html +++ b/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
  • 8.8. The image does not reach the preset frame rate
    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -448,7 +450,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html b/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html index 62bbc59a..eff057ca 100644 --- a/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html +++ b/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -553,7 +555,7 @@ reliability of the Orbbec camera system in a ROS2 environment.

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html b/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html index 78bf33d3..609a9c44 100644 --- a/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html +++ b/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
  • 8.9. Issues related to soft trigger mode
    • @@ -606,7 +608,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/6_benchmark/benchmark.html b/en/source/camera_devices/6_benchmark/benchmark.html index 618ff464..73f2f92e 100644 --- a/en/source/camera_devices/6_benchmark/benchmark.html +++ b/en/source/camera_devices/6_benchmark/benchmark.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -439,7 +441,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/6_benchmark/benchmark_data.html b/en/source/camera_devices/6_benchmark/benchmark_data.html index 74528654..2f126852 100644 --- a/en/source/camera_devices/6_benchmark/benchmark_data.html +++ b/en/source/camera_devices/6_benchmark/benchmark_data.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -432,7 +434,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/6_benchmark/benchmark_usage.html b/en/source/camera_devices/6_benchmark/benchmark_usage.html index 2ff062ed..a7a77501 100644 --- a/en/source/camera_devices/6_benchmark/benchmark_usage.html +++ b/en/source/camera_devices/6_benchmark/benchmark_usage.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -535,7 +537,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/6_benchmark/introduction.html b/en/source/camera_devices/6_benchmark/introduction.html index 12574cef..3906196f 100644 --- a/en/source/camera_devices/6_benchmark/introduction.html +++ b/en/source/camera_devices/6_benchmark/introduction.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • 8.7. femto bolt depth stream no data
    • +
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    • +
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    • @@ -446,7 +448,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/6_benchmark/othertools.html b/en/source/camera_devices/6_benchmark/othertools.html index 907f1b69..433a225b 100644 --- a/en/source/camera_devices/6_benchmark/othertools.html +++ b/en/source/camera_devices/6_benchmark/othertools.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
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    • +
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    • +
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    • @@ -469,7 +471,7 @@ ros2 run orbbec_camera

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html b/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html index b19fe10e..14126788 100644 --- a/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html +++ b/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
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    • +
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    • @@ -453,7 +455,7 @@ bash .make_deb.sh

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/7_developer_guide/developer_guide.html b/en/source/camera_devices/7_developer_guide/developer_guide.html index f9eadf03..1e831de2 100644 --- a/en/source/camera_devices/7_developer_guide/developer_guide.html +++ b/en/source/camera_devices/7_developer_guide/developer_guide.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
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    • +
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    • +
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    • @@ -432,7 +434,7 @@

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    diff --git a/en/source/camera_devices/7_developer_guide/migration_guide.html b/en/source/camera_devices/7_developer_guide/migration_guide.html index cbca0ff8..a5920350 100644 --- a/en/source/camera_devices/7_developer_guide/migration_guide.html +++ b/en/source/camera_devices/7_developer_guide/migration_guide.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
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    • @@ -1248,7 +1250,7 @@

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    diff --git a/en/source/camera_devices/8_FAQ/FAQ.html b/en/source/camera_devices/8_FAQ/FAQ.html index 8c78dfd9..44f114ce 100644 --- a/en/source/camera_devices/8_FAQ/FAQ.html +++ b/en/source/camera_devices/8_FAQ/FAQ.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
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    • @@ -431,7 +433,8 @@

    8.3. Additional Troubleshooting

    • If you encounter other issues, set the log_level parameter to debug. This will generate an SDK log file in the running directory: Log/OrbbecSDK.log.txt. Please provide this file to the support team for further assistance.

      • -

    • If firmware logs are required, set enable_heartbeat to true to activate this feature.

      • +

    • If firmware logs are required, set the log_level parameter to debug and set enable_heartbeat to true to activate this feature.

      • +

    • If you set the log_level parameter to debug and do not want the terminal to refresh too many logs, you can change output="screen" to output="log" in launch, and the logs will be saved in the ~/.ros/log directory.

    @@ -477,6 +480,43 @@
    +
    +

    8.8. The image does not reach the preset frame rate

    +

    First you need to confirm whether the image does not reach the preset frame rate. There are several ways to view framerate in ROS 2, such as:

    +
      +

    • ros2 topic hz

      • +

    • rqt

      • +

    • Custom tools (such as the benchmark tool provided by this ROS package)

      • +
    +

    It should be noted that different tools have different statistical methods and QoS configurations, so the frame rate results obtained may be different. When you find that the frame rate is lower than expected, please prioritize whether the error is caused by the frame rate statistics tool itself.

    +

    If you confirm that the image frame rate does not reach the preset value, you can try the following troubleshooting steps:

    +
      +

    1. Reduce the resolution or frame rate to determine whether the frame rate is reduced due to USB/network bandwidth limitations;

      2. +

    2. Confirm whether the camera firmware version and ROS package version are the latest. Older versions may have performance or compatibility issues.

      3. +
    +

    If the above methods still cannot solve the problem, please contact our company FAE, or submit an issue in GitHub Issue for further support.

    +
    + @@ -491,7 +531,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/camera_devices/index.html b/en/source/camera_devices/index.html index 510c148c..b505db40 100644 --- a/en/source/camera_devices/index.html +++ b/en/source/camera_devices/index.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
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    • @@ -559,6 +561,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
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    • +
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    • +
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    • @@ -577,7 +581,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/license.html b/en/source/license.html index defe498e..9dee8e51 100644 --- a/en/source/license.html +++ b/en/source/license.html @@ -334,6 +334,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
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    • +
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    • @@ -417,7 +419,7 @@ language governing permissions and limitations under the License.

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/en/source/lidar_devices/index.html b/en/source/lidar_devices/index.html index 60c4bfeb..318695e8 100644 --- a/en/source/lidar_devices/index.html +++ b/en/source/lidar_devices/index.html @@ -336,6 +336,8 @@
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
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    • +
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    • +
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    • @@ -422,7 +424,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

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  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
  • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
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    • +
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    • +
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    • @@ -626,7 +628,7 @@ ros2 topic echo

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-01-13 02:41:39. + Last updated on 2026-01-13 11:20:23.

    diff --git a/zh/.doctrees/environment.pickle b/zh/.doctrees/environment.pickle index 6897a4c4..48225c71 100644 Binary files a/zh/.doctrees/environment.pickle and b/zh/.doctrees/environment.pickle differ diff --git a/zh/.doctrees/source/camera_devices/1_overview/introduction.doctree b/zh/.doctrees/source/camera_devices/1_overview/introduction.doctree index afca7ad7..5d17875b 100644 Binary files a/zh/.doctrees/source/camera_devices/1_overview/introduction.doctree and b/zh/.doctrees/source/camera_devices/1_overview/introduction.doctree differ diff --git a/zh/.doctrees/source/camera_devices/2_installation/build_the_package.doctree b/zh/.doctrees/source/camera_devices/2_installation/build_the_package.doctree index 173d1624..5b7b5715 100644 Binary files a/zh/.doctrees/source/camera_devices/2_installation/build_the_package.doctree and b/zh/.doctrees/source/camera_devices/2_installation/build_the_package.doctree differ diff --git a/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree b/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree index 1b2758d4..521ab559 100644 Binary files a/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree and b/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree differ diff --git a/zh/_sources/source/camera_devices/1_overview/introduction.md.txt b/zh/_sources/source/camera_devices/1_overview/introduction.md.txt index 04d0896b..f1be2185 100644 --- a/zh/_sources/source/camera_devices/1_overview/introduction.md.txt +++ b/zh/_sources/source/camera_devices/1_overview/introduction.md.txt @@ -186,6 +186,8 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它 | 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 | | Pulsar SL450 | 2.2.4.5 | lidar.launch.py | | Pulsar ME450 | 1.0.0.6 | lidar.launch.py | diff --git a/zh/_sources/source/camera_devices/2_installation/build_the_package.md.txt b/zh/_sources/source/camera_devices/2_installation/build_the_package.md.txt index 2ad4b94f..6c21ad93 100644 --- a/zh/_sources/source/camera_devices/2_installation/build_the_package.md.txt +++ b/zh/_sources/source/camera_devices/2_installation/build_the_package.md.txt @@ -11,7 +11,7 @@ sudo apt install libgflags-dev nlohmann-json3-dev \ ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \ -ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev +ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1 libgoogle-glog-dev ``` 启用 ROS 2 自动补全： diff --git a/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt b/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt index 7910d593..12cb6f2d 100644 --- a/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt +++ b/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt @@ -28,7 +28,8 @@ ### 其他故障排除 - 如果遇到其他问题，将 `log_level` 参数设置为 `debug`。这将在运行目录中生成SDK日志文件：`Log/OrbbecSDK.log.txt`。请将此文件提供给支持团队以获得进一步帮助。 -- 如果需要固件日志，将 `enable_heartbeat` 设置为 `true` 以激活此功能。 +- 如果需要固件日志，将`log_level` 参数设置为 `debug`的同时，将 `enable_heartbeat` 设置为 `true` 以激活此功能。 +- 若将`log_level` 参数设置为 `debug`的同时，又不想终端刷新太多日志，可以在`launch`中将`output="screen"`改为`output="log"`，日志会被保存在`~/.ros/log`目录下。 ### 为什么有这么多启动文件？ @@ -77,3 +78,44 @@ ros2 launch orbbec_camera femto_bolt.launch.py serial_number:=CL8H741005J ```bash glxinfo -B ``` + +### 图像未达到预设帧率 + +首先需要确认图像是否确实未达到预设帧率。在 ROS 2 中可通过多种方式查看帧率，例如： + +* `ros2 topic hz` +* `rqt` +* 自定义工具（如本 ROS 包提供的 `benchmark` 工具） + +需要注意的是，不同工具的统计方式和 QoS 配置不同，因此得到的帧率结果可能存在差异。当发现帧率低于预期时，请优先排查是否为帧率统计工具本身导致的误差。 + +若确认图像帧率确实未达到预设值，可尝试以下排查步骤： + +1. **降低分辨率或帧率**，判断是否由于 USB / 网络带宽受限导致帧率下降； +2. **确认相机固件版本及 ROS 包版本是否为最新**，旧版本可能存在性能或兼容性问题。 + +若以上方法仍无法解决问题，请联系我司 **FAE**，或在 **GitHub Issue** 中提交问题以获得进一步支持。 + + +### 软触发模式相关问题 + +* **信号触发时各传感器未同时出流** + 请开启帧汇聚功能，将参数`frame_aggregate_mode`设置为`full_frame`，以保证多传感器数据在同一次触发下同步输出。 + +* **自动触发模式下无法达到预设帧率** + 设置 `software_trigger_period` 时，需要综合考虑实际开流帧率与曝光时间。例如，当 `color_fps` 设置为 10 FPS 时，`software_trigger_period` 不能低于以下计算值： + + ``` + software_trigger_period ≥ 1000000 / fps × N + 2 × expo + ``` + + 其中： + + * `fps`：传感器帧率 + * `N`：单次触发采集的帧数量 + * `expo`：曝光时间 + * `单位`：µs + + 若 `software_trigger_period` 设置过小，将导致触发频率受限，从而丢帧。 + + diff --git a/zh/genindex.html b/zh/genindex.html index 7559fd52..e37a3d95 100644 --- a/zh/genindex.html +++ b/zh/genindex.html @@ -334,6 +334,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -411,7 +413,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/index.html b/zh/index.html index fbd92270..19701035 100644 --- a/zh/index.html +++ b/zh/index.html @@ -336,6 +336,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -455,6 +457,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -502,7 +506,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/objects.inv b/zh/objects.inv index 8184b9b4..cb96db22 100644 Binary files a/zh/objects.inv and b/zh/objects.inv differ diff --git a/zh/search.html b/zh/search.html index 730eb65e..59ddf902 100644 --- a/zh/search.html +++ b/zh/search.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -419,7 +421,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

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  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -635,6 +637,16 @@ astra2.launch.py +Gemini 345 +1.7.12 +gemini345.launch.py + + +Gemini 345Lg +1.7.12 +gemini345_lg.launch.py + + Pulsar SL450 2.2.4.5 lidar.launch.py @@ -757,7 +769,7 @@ thead th {

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/1_overview/orbbecsdk_overview.html b/zh/source/camera_devices/1_overview/orbbecsdk_overview.html index 8119ed17..9228238a 100644 --- a/zh/source/camera_devices/1_overview/orbbecsdk_overview.html +++ b/zh/source/camera_devices/1_overview/orbbecsdk_overview.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -596,7 +598,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/1_overview/overview.html b/zh/source/camera_devices/1_overview/overview.html index 725b8156..5a262f24 100644 --- a/zh/source/camera_devices/1_overview/overview.html +++ b/zh/source/camera_devices/1_overview/overview.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -434,7 +436,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/2_installation/build_the_package.html b/zh/source/camera_devices/2_installation/build_the_package.html index ff8ecc3d..7d0c6d71 100644 --- a/zh/source/camera_devices/2_installation/build_the_package.html +++ b/zh/source/camera_devices/2_installation/build_the_package.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
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    • +
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    • +
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    • @@ -412,7 +414,7 @@ ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \ -ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev +ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1 libgoogle-glog-dev

    启用 ROS 2 自动补全：

    @@ -467,7 +469,7 @@ colcon build --event-handlers

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/2_installation/installation.html b/zh/source/camera_devices/2_installation/installation.html index 7f11fca3..71bc3b2d 100644 --- a/zh/source/camera_devices/2_installation/installation.html +++ b/zh/source/camera_devices/2_installation/installation.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -429,7 +431,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/2_installation/registration_script.html b/zh/source/camera_devices/2_installation/registration_script.html index b6a33c12..8a51fb25 100644 --- a/zh/source/camera_devices/2_installation/registration_script.html +++ b/zh/source/camera_devices/2_installation/registration_script.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
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    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -435,7 +437,7 @@ sudo udevadm control

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/3_quickstarts/orbbecviewer.html b/zh/source/camera_devices/3_quickstarts/orbbecviewer.html index 4106dd56..389af8a3 100644 --- a/zh/source/camera_devices/3_quickstarts/orbbecviewer.html +++ b/zh/source/camera_devices/3_quickstarts/orbbecviewer.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -498,7 +500,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/3_quickstarts/quickstart.html b/zh/source/camera_devices/3_quickstarts/quickstart.html index b216495c..f1f8ca2a 100644 --- a/zh/source/camera_devices/3_quickstarts/quickstart.html +++ b/zh/source/camera_devices/3_quickstarts/quickstart.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -506,7 +508,7 @@ ros2 param list

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/3_quickstarts/quickstarts.html b/zh/source/camera_devices/3_quickstarts/quickstarts.html index 55335336..267c3937 100644 --- a/zh/source/camera_devices/3_quickstarts/quickstarts.html +++ b/zh/source/camera_devices/3_quickstarts/quickstarts.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -434,7 +436,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/4_application_guide/application_guide.html b/zh/source/camera_devices/4_application_guide/application_guide.html index 5ce5e439..b1351b36 100644 --- a/zh/source/camera_devices/4_application_guide/application_guide.html +++ b/zh/source/camera_devices/4_application_guide/application_guide.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -461,7 +463,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/4_application_guide/compressed_image.html b/zh/source/camera_devices/4_application_guide/compressed_image.html index 3786efb5..04d738c6 100644 --- a/zh/source/camera_devices/4_application_guide/compressed_image.html +++ b/zh/source/camera_devices/4_application_guide/compressed_image.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
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    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -423,7 +425,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html b/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html index 61d8b5a7..81bcf957 100644 --- a/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html +++ b/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -764,7 +766,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/4_application_guide/launch_parameters.html b/zh/source/camera_devices/4_application_guide/launch_parameters.html index 27f7d7a2..07668bbb 100644 --- a/zh/source/camera_devices/4_application_guide/launch_parameters.html +++ b/zh/source/camera_devices/4_application_guide/launch_parameters.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -1106,7 +1108,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/4_application_guide/point_cloud.html b/zh/source/camera_devices/4_application_guide/point_cloud.html index 8e0517c1..e8b40c0b 100644 --- a/zh/source/camera_devices/4_application_guide/point_cloud.html +++ b/zh/source/camera_devices/4_application_guide/point_cloud.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -468,7 +470,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/4_application_guide/services.html b/zh/source/camera_devices/4_application_guide/services.html index 05ad99c9..79e91120 100644 --- a/zh/source/camera_devices/4_application_guide/services.html +++ b/zh/source/camera_devices/4_application_guide/services.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -754,7 +756,7 @@ ros2 service call

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/4_application_guide/topics.html b/zh/source/camera_devices/4_application_guide/topics.html index bf832893..ca7b3b8f 100644 --- a/zh/source/camera_devices/4_application_guide/topics.html +++ b/zh/source/camera_devices/4_application_guide/topics.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -533,7 +535,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/advanced_guide.html b/zh/source/camera_devices/5_advanced_guide/advanced_guide.html index c2100e52..f79e82f0 100644 --- a/zh/source/camera_devices/5_advanced_guide/advanced_guide.html +++ b/zh/source/camera_devices/5_advanced_guide/advanced_guide.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
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    • +
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    • +
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    • @@ -508,7 +510,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html b/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html index 7d797065..9a719653 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
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    • +
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    • +
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    • @@ -452,7 +454,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html index 3f8a1bf0..d86fb7c5 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
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    • +
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    • +
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    • @@ -426,7 +428,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html b/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html index 9f85e8f2..a6d012db 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
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    • +
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    • @@ -444,7 +446,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html b/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html index 42e97a48..6d139202 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • @@ -508,7 +510,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html b/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html index 4fd9475f..96668433 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
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    • +
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    • @@ -472,7 +474,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html b/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html index 7676b566..2245ae8e 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -508,7 +510,7 @@ net_device_port:=8090

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html b/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html index 38261ee2..24443098 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -458,7 +460,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html index 2ba38758..54d36961 100644 --- a/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html +++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -478,7 +480,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html index e357f8b1..ac6b1a0c 100644 --- a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html +++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -507,7 +509,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html index 223dad58..260d8469 100644 --- a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html +++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -495,7 +497,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html index f989e143..1361c126 100644 --- a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html +++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -569,7 +571,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html b/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html index 1bbb2198..3fc5a799 100644 --- a/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html +++ b/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -449,7 +451,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html b/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html index b9d2963c..d1411cce 100644 --- a/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html +++ b/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -546,7 +548,7 @@ net.core.wmem_default=2147483647

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html b/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html index 7b440a2c..2b0191b4 100644 --- a/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html +++ b/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -607,7 +609,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/6_benchmark/benchmark.html b/zh/source/camera_devices/6_benchmark/benchmark.html index e5766814..34c1c770 100644 --- a/zh/source/camera_devices/6_benchmark/benchmark.html +++ b/zh/source/camera_devices/6_benchmark/benchmark.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -440,7 +442,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/6_benchmark/benchmark_data.html b/zh/source/camera_devices/6_benchmark/benchmark_data.html index 61a662ef..24d345bf 100644 --- a/zh/source/camera_devices/6_benchmark/benchmark_data.html +++ b/zh/source/camera_devices/6_benchmark/benchmark_data.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -433,7 +435,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/6_benchmark/benchmark_usage.html b/zh/source/camera_devices/6_benchmark/benchmark_usage.html index 054323de..8b15846d 100644 --- a/zh/source/camera_devices/6_benchmark/benchmark_usage.html +++ b/zh/source/camera_devices/6_benchmark/benchmark_usage.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -536,7 +538,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/6_benchmark/introduction.html b/zh/source/camera_devices/6_benchmark/introduction.html index f3fdc494..9461f2cb 100644 --- a/zh/source/camera_devices/6_benchmark/introduction.html +++ b/zh/source/camera_devices/6_benchmark/introduction.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -447,7 +449,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/6_benchmark/othertools.html b/zh/source/camera_devices/6_benchmark/othertools.html index 881d39f2..37afd4b9 100644 --- a/zh/source/camera_devices/6_benchmark/othertools.html +++ b/zh/source/camera_devices/6_benchmark/othertools.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
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    • @@ -470,7 +472,7 @@ ros2 run orbbec_camera

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html b/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html index 66ce19bc..3892eb52 100644 --- a/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html +++ b/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -452,7 +454,7 @@ bash .make_deb.sh

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/7_developer_guide/developer_guide.html b/zh/source/camera_devices/7_developer_guide/developer_guide.html index 134cad16..5b40ef39 100644 --- a/zh/source/camera_devices/7_developer_guide/developer_guide.html +++ b/zh/source/camera_devices/7_developer_guide/developer_guide.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
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    • @@ -433,7 +435,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/7_developer_guide/migration_guide.html b/zh/source/camera_devices/7_developer_guide/migration_guide.html index 82255b24..231ca4a4 100644 --- a/zh/source/camera_devices/7_developer_guide/migration_guide.html +++ b/zh/source/camera_devices/7_developer_guide/migration_guide.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -1249,7 +1251,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/8_FAQ/FAQ.html b/zh/source/camera_devices/8_FAQ/FAQ.html index 52fe4404..250a4172 100644 --- a/zh/source/camera_devices/8_FAQ/FAQ.html +++ b/zh/source/camera_devices/8_FAQ/FAQ.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -432,7 +434,8 @@

    8.3. 其他故障排除

    • 如果遇到其他问题，将 log_level 参数设置为 debug。这将在运行目录中生成SDK日志文件：Log/OrbbecSDK.log.txt。请将此文件提供给支持团队以获得进一步帮助。

      • -

    • 如果需要固件日志，将 enable_heartbeat 设置为 true 以激活此功能。

      • +

    • 如果需要固件日志，将log_level 参数设置为 debug的同时，将 enable_heartbeat 设置为 true 以激活此功能。

      • +

    • 若将log_level 参数设置为 debug的同时，又不想终端刷新太多日志，可以在launch中将output="screen"改为output="log"，日志会被保存在~/.ros/log目录下。

    @@ -478,6 +481,43 @@
    +
    +

    8.8. 图像未达到预设帧率

    +

    首先需要确认图像是否确实未达到预设帧率。在 ROS 2 中可通过多种方式查看帧率，例如：

    +
      +

    • ros2 topic hz

      • +

    • rqt

      • +

    • 自定义工具（如本 ROS 包提供的 benchmark 工具）

      • +
    +

    需要注意的是，不同工具的统计方式和 QoS 配置不同，因此得到的帧率结果可能存在差异。当发现帧率低于预期时，请优先排查是否为帧率统计工具本身导致的误差。

    +

    若确认图像帧率确实未达到预设值，可尝试以下排查步骤：

    +
      +

    1. 降低分辨率或帧率，判断是否由于 USB / 网络带宽受限导致帧率下降；

      2. +

    2. 确认相机固件版本及 ROS 包版本是否为最新，旧版本可能存在性能或兼容性问题。

      3. +
    +

    若以上方法仍无法解决问题，请联系我司 FAE，或在 GitHub Issue 中提交问题以获得进一步支持。

    +
    +
    +

    8.9. 软触发模式相关问题

    +
      +

    • 信号触发时各传感器未同时出流 +请开启帧汇聚功能，将参数frame_aggregate_mode设置为full_frame，以保证多传感器数据在同一次触发下同步输出。

      • +

    • 自动触发模式下无法达到预设帧率 +设置 software_trigger_period 时，需要综合考虑实际开流帧率与曝光时间。例如，当 color_fps 设置为 10 FPS 时，software_trigger_period 不能低于以下计算值：

      +
      software_trigger_period ≥ 1000000 / fps × N + 2 × expo
+
      +
      +

      其中：

      +
        +

      • fps：传感器帧率

        • +

      • N：单次触发采集的帧数量

        • +

      • expo：曝光时间

        • +

      • 单位：µs

        • +
      +

      若 software_trigger_period 设置过小，将导致触发频率受限，从而丢帧。

      +
      • +
    +
    @@ -492,7 +532,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/camera_devices/index.html b/zh/source/camera_devices/index.html index b6e57053..34dfefa3 100644 --- a/zh/source/camera_devices/index.html +++ b/zh/source/camera_devices/index.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -560,6 +562,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
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    • +
  • 8.9. 软触发模式相关问题
    • @@ -578,7 +582,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/license.html b/zh/source/license.html index 8fe5bd67..62245a3b 100644 --- a/zh/source/license.html +++ b/zh/source/license.html @@ -335,6 +335,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -418,7 +420,7 @@ language governing permissions and limitations under the License.

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/lidar_devices/index.html b/zh/source/lidar_devices/index.html index fbfbceff..ef26c744 100644 --- a/zh/source/lidar_devices/index.html +++ b/zh/source/lidar_devices/index.html @@ -337,6 +337,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -423,7 +425,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.

    diff --git a/zh/source/lidar_devices/lidar.html b/zh/source/lidar_devices/lidar.html index 4a80b530..aa1d7fa7 100644 --- a/zh/source/lidar_devices/lidar.html +++ b/zh/source/lidar_devices/lidar.html @@ -336,6 +336,8 @@
  • 8.5. 多相机连接时如何指定启动某一个相机
  • 8.6. 多相机启动或切换流时为什么需要设置延迟？
  • 8.7. femto bolt 深度流无数据
    • +
  • 8.8. 图像未达到预设帧率
    • +
  • 8.9. 软触发模式相关问题
    • @@ -627,7 +629,7 @@ ros2 topic echo

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年01月13日 02:41:42. + 最后更新于 2026年01月13日 11:20:26.