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ob-yalian
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zh/_sources/source/camera_devices/1_overview/introduction.md.txt
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@@ -129,6 +129,17 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
<td>full maintenance</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td>
<td>Pulsar ME450</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Pulsar SL450</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
</tbody>
</table>
@@ -152,18 +163,20 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
| **产品列表** | **推荐固件版本** | **启动文件** |
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------------------------- |
| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.launch.py |
| Astra Mini S Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro) | astra.launch.py |
| Gemini 435Le | [1.3.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | gemini435_le.launch.py |
| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.launch.py |
| Astra Mini S Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro) | astra.launch.py |
| Gemini 435Le | [1.3.6](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | gemini435_le.launch.py |
| Gemini 330 series | [1.6.00](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip) | gemini_330_series.launch.py |
| Gemini 215 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | gemini210.launch.py |
| Gemini 210 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | gemini210.launch.py |
| Gemini 2 | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | gemini2.launch.py |
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
| Femto 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 215 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | gemini210.launch.py |
| Gemini 210 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | gemini210.launch.py |
| Gemini 2 | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | gemini2.launch.py |
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
| Femto 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 |
| Pulsar SL450 | 2.2.4.5 | lidar.launch.py |
| Pulsar ME450 | 1.0.0.6 | lidar.launch.py |
所有启动文件本质上是类似的，主要区别在于同系列不同型号设置的参数默认值。USB 标准差异（如 USB 2.0 与 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别关注启动文件中的分辨率设置以及其他参数，以确保兼容与最佳性能。
zh/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
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@@ -14,6 +14,11 @@
* 相机的USB端口。当使用多个相机时需要此参数。
* **`device_num`**
* 设备数量。如果需要多个相机，必须填写此参数。
* **`device_preset`**
* 默认值为 `Default`。可以使用下面命令查看可设置模式
```bash
ros2 run orbbec_camera list_camera_profile_mode_node
```
* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
* 传感器流的分辨率和帧率。
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
@@ -42,9 +47,7 @@
* **`right_ir.image_raw.enable_pub_plugins`**
* 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
* **`point_cloud_decimation_filter_factor`**
* 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样越强。
* **`preset_resolution_config`**
* 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 仅在 Gemini435Le 设备上受支持。留空禁用。
* 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。
### 传感器控制
@@ -84,7 +87,7 @@
* 设置深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。
> **注意：** 这取代了已弃用的 `depth_brightness`，后者仍支持以保持向后兼容性。
* **`enable_depth_scale`**
* 启用深度缩放。
* 设置D2C后是否启用深度缩放。`true`表示启用，默认为`true`。
* **`depth_precision`**
* 深度精度应为 `1mm` 格式。默认值为 `1mm`。
* **`depth_ae_roi_[left|right|top|bottom]`**
@@ -147,11 +150,10 @@
> 用于 [网络相机](../5_advanced_guide/configuration/net_camera.md)。
#### 设备特定
* **`device_preset`**
* 默认值为 `Default`。仅支持G330系列。有关更多信息，请参阅 [G330文档](https://www.orbbec.com/docs/g330-use-depth-presets/)。该值应为 [表中列出](../5_advanced_guide/configuration/predefined_presets.md) 的预设名称之一。
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* 启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
* **`preset_resolution_config`**
* 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 仅在 Gemini435Le 设备上受支持。留空禁用。
#### 视差
* **`disparity_to_depth_mode`**
zh/_sources/source/lidar_devices/lidar.md.txt
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@@ -59,11 +59,11 @@ rviz2
* `PointCloud2`可视化示例：
![rviz2中的模块](./docs/images/lidar0.jpg)
![rviz2中的模块](./image/lidar0.jpg)
* `LaserScan`可视化示例：
![rviz2中的模块](./docs/images/lidar1.png)
![rviz2中的模块](./image/lidar1.png)
## 使用方法