mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-10 14:39:49 +08:00
deploy: af67d4599f
This commit is contained in:
ob-yalian
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@@ -129,6 +129,17 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
|
|||||||
<td>full maintenance</td>
|
<td>full maintenance</td>
|
||||||
<td>recommended for new designs</td>
|
<td>recommended for new designs</td>
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||||||
</tr>
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td>
|
||||||
|
<td>Pulsar ME450</td>
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||||||
|
<td>not supported</td>
|
||||||
|
<td>recommended for new designs</td>
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||||||
|
</tr>
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||||||
|
<tr>
|
||||||
|
<td>Pulsar SL450</td>
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||||||
|
<td>not supported</td>
|
||||||
|
<td>recommended for new designs</td>
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||||||
|
</tr>
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||||||
</tbody>
|
</tbody>
|
||||||
</table>
|
</table>
|
||||||
|
|
||||||
@@ -150,20 +161,22 @@ For optimal performance, we strongly recommend updating to the latest firmware v
|
|||||||
|
|
||||||
To learn how to obtain and upgrade the latest firmware, [please click here](../3_quickstarts/orbbecviewer.md).
|
To learn how to obtain and upgrade the latest firmware, [please click here](../3_quickstarts/orbbecviewer.md).
|
||||||
|
|
||||||
| **Products List** | **Recommended FW Version** | **Launch File** |
|
| **Products List** | **Recommended FW Version** | Launch File |
|
||||||
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------------------------- |
|
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------- |
|
||||||
| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.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 |
|
| 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 |
|
| 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 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 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 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 | [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 |
|
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
|
||||||
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
|
| Femto Bolt | [1.1.2](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 | [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 |
|
| 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 |
|
| 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 |
|
||||||
|
|
||||||
All launch files are essentially similar, with the primary difference being the default values of the parameters set
|
All launch files are essentially similar, with the primary difference being the default values of the parameters set
|
||||||
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.
|
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.
|
||||||
|
|||||||
@@ -14,6 +14,11 @@ The following are the launch parameters available:
|
|||||||
* The USB port of the camera. This is required when multiple cameras are used.
|
* The USB port of the camera. This is required when multiple cameras are used.
|
||||||
* **`device_num`**
|
* **`device_num`**
|
||||||
* The number of devices. This must be filled in if multiple cameras are required.
|
* The number of devices. This must be filled in if multiple cameras are required.
|
||||||
|
* **`device_preset`**
|
||||||
|
* The default value is `Default`. You can use the following command to view the configurable mode
|
||||||
|
```bash
|
||||||
|
ros2 run orbbec_camera list_camera_profile_mode_node
|
||||||
|
```
|
||||||
* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
|
* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
|
||||||
* The resolution and frame rate of the sensor stream.
|
* The resolution and frame rate of the sensor stream.
|
||||||
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
|
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
|
||||||
@@ -42,9 +47,7 @@ The following are the launch parameters available:
|
|||||||
* **`right_ir.image_raw.enable_pub_plugins`**
|
* **`right_ir.image_raw.enable_pub_plugins`**
|
||||||
* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
|
* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
|
||||||
* **`point_cloud_decimation_filter_factor`**
|
* **`point_cloud_decimation_filter_factor`**
|
||||||
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling; larger values apply stronger decimation.
|
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
|
||||||
* **`preset_resolution_config`**
|
|
||||||
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on specific devices like Gemini2. Leave empty to disable.
|
|
||||||
|
|
||||||
### Sensor Controls
|
### Sensor Controls
|
||||||
|
|
||||||
@@ -85,7 +88,7 @@ The following are the launch parameters available:
|
|||||||
* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
|
* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
|
||||||
> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
|
> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
|
||||||
* **`enable_depth_scale`**
|
* **`enable_depth_scale`**
|
||||||
* Enable the depth scale.
|
* Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`.
|
||||||
* **`depth_precision`**
|
* **`depth_precision`**
|
||||||
* The depth precision should be in the format `1mm`. The default value is `1mm`.
|
* The depth precision should be in the format `1mm`. The default value is `1mm`.
|
||||||
* **`depth_ae_roi_[left|right|top|bottom]`**
|
* **`depth_ae_roi_[left|right|top|bottom]`**
|
||||||
@@ -152,8 +155,8 @@ The following are the launch parameters available:
|
|||||||
> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
|
> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
|
||||||
|
|
||||||
#### Device-Specific
|
#### Device-Specific
|
||||||
* **`device_preset`**
|
* **`preset_resolution_config`**
|
||||||
* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/configuration/predefined_presets.md).
|
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on 435Le. Leave empty to disable.
|
||||||
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
|
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
|
||||||
* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
|
* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
|
||||||
|
|
||||||
|
|||||||
@@ -59,11 +59,11 @@ rviz2
|
|||||||
|
|
||||||
* `PointCloud2` visualization example:
|
* `PointCloud2` visualization example:
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
* `LaserScan` visualization example:
|
* `LaserScan` visualization example:
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
## Usage
|
## Usage
|
||||||
|
|
||||||
|
|||||||
+1
-1
@@ -410,7 +410,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
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</div>
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</div>
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+1
-1
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|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
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||||||
|
|||||||
+1
-1
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|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
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</div>
|
||||||
|
|
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|
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+1
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@@ -527,6 +527,17 @@
|
|||||||
<td>full maintenance</td>
|
<td>full maintenance</td>
|
||||||
<td>recommended for new designs</td>
|
<td>recommended for new designs</td>
|
||||||
</tr>
|
</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>
|
</tbody>
|
||||||
</table><p><strong>Note</strong>: If you do not find your device, please contact our FAE or sales representative for help.</p>
|
</table><p><strong>Note</strong>: If you do not find your device, please contact our FAE or sales representative for help.</p>
|
||||||
<p><strong>Definition</strong>:</p>
|
<p><strong>Definition</strong>:</p>
|
||||||
@@ -547,7 +558,7 @@
|
|||||||
<tr>
|
<tr>
|
||||||
<th><strong>Products List</strong></th>
|
<th><strong>Products List</strong></th>
|
||||||
<th><strong>Recommended FW Version</strong></th>
|
<th><strong>Recommended FW Version</strong></th>
|
||||||
<th><strong>Launch File</strong></th>
|
<th>Launch File</th>
|
||||||
</tr>
|
</tr>
|
||||||
</thead>
|
</thead>
|
||||||
<tbody>
|
<tbody>
|
||||||
@@ -563,7 +574,7 @@
|
|||||||
</tr>
|
</tr>
|
||||||
<tr>
|
<tr>
|
||||||
<td>Gemini 435Le</td>
|
<td>Gemini 435Le</td>
|
||||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">1.3.2</a></td>
|
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">1.3.6</a></td>
|
||||||
<td>gemini435_le.launch.py</td>
|
<td>gemini435_le.launch.py</td>
|
||||||
</tr>
|
</tr>
|
||||||
<tr>
|
<tr>
|
||||||
@@ -611,6 +622,16 @@
|
|||||||
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip">2.8.20</a></td>
|
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip">2.8.20</a></td>
|
||||||
<td>astra2.launch.py</td>
|
<td>astra2.launch.py</td>
|
||||||
</tr>
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Pulsar SL450</td>
|
||||||
|
<td>2.2.4.5</td>
|
||||||
|
<td>lidar.launch.py</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Pulsar ME450</td>
|
||||||
|
<td>1.0.0.6</td>
|
||||||
|
<td>lidar.launch.py</td>
|
||||||
|
</tr>
|
||||||
</tbody>
|
</tbody>
|
||||||
</table><p>All launch files are essentially similar, with the primary difference being the default values of the parameters set
|
</table><p>All launch files are essentially similar, with the primary difference being the default values of the parameters set
|
||||||
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.</p>
|
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.</p>
|
||||||
@@ -725,7 +746,7 @@ thead th {
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -595,7 +595,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
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</span></p>
|
||||||
</div>
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</div>
|
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@@ -433,7 +433,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
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</span></p>
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</span></p>
|
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</div>
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</div>
|
||||||
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|
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|
|||||||
@@ -466,7 +466,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
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</span></p>
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</div>
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</div>
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@@ -428,7 +428,7 @@
|
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|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
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</div>
|
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|
|
||||||
|
|||||||
@@ -434,7 +434,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
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|
||||||
</div>
|
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|
||||||
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|
||||||
|
|||||||
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|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -505,7 +505,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
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|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -433,7 +433,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -460,7 +460,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
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|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -422,7 +422,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
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|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -749,7 +749,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
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|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -408,101 +408,104 @@
|
|||||||
<p>The following are the launch parameters available:</p>
|
<p>The following are the launch parameters available:</p>
|
||||||
<section id="core-stream-configuration">
|
<section id="core-stream-configuration">
|
||||||
<h2><span class="section-number">4.1.1. </span>Core & Stream Configuration<a class="headerlink" href="#core-stream-configuration" title="Link to this heading"></a></h2>
|
<h2><span class="section-number">4.1.1. </span>Core & Stream Configuration<a class="headerlink" href="#core-stream-configuration" title="Link to this heading"></a></h2>
|
||||||
<ul class="simple">
|
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
|
|
||||||
<ul>
|
<ul>
|
||||||
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
|
||||||
|
<ul class="simple">
|
||||||
<li><p>Start the node namespace.</p></li>
|
<li><p>Start the node namespace.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">serial_number</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">serial_number</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>The serial number of the camera. This is required when multiple cameras are used.</p></li>
|
<li><p>The serial number of the camera. This is required when multiple cameras are used.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">usb_port</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">usb_port</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>The USB port of the camera. This is required when multiple cameras are used.</p></li>
|
<li><p>The USB port of the camera. This is required when multiple cameras are used.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_num</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_num</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>The number of devices. This must be filled in if multiple cameras are required.</p></li>
|
<li><p>The number of devices. This must be filled in if multiple cameras are required.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
|
||||||
|
<ul class="simple">
|
||||||
|
<li><p>The default value is <code class="docutils literal notranslate"><span class="pre">Default</span></code>. You can use the following command to view the configurable mode</p></li>
|
||||||
|
</ul>
|
||||||
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_camera_profile_mode_node
|
||||||
|
</pre></div>
|
||||||
|
</div>
|
||||||
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>The resolution and frame rate of the sensor stream.</p></li>
|
<li><p>The resolution and frame rate of the sensor stream.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_rotation</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_rotation</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Set stream image rotation.</p></li>
|
<li><p>Set stream image rotation.</p></li>
|
||||||
<li><p>The possible values are <code class="docutils literal notranslate"><span class="pre">0</span></code>, <code class="docutils literal notranslate"><span class="pre">90</span></code>, <code class="docutils literal notranslate"><span class="pre">180</span></code>, <code class="docutils literal notranslate"><span class="pre">270</span></code>.</p></li>
|
<li><p>The possible values are <code class="docutils literal notranslate"><span class="pre">0</span></code>, <code class="docutils literal notranslate"><span class="pre">90</span></code>, <code class="docutils literal notranslate"><span class="pre">180</span></code>, <code class="docutils literal notranslate"><span class="pre">270</span></code>.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_flip</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_flip</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable the stream image flip.</p></li>
|
<li><p>Enable the stream image flip.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_mirror</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_mirror</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable the stream image mirror.</p></li>
|
<li><p>Enable the stream image mirror.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable the point cloud.</p></li>
|
<li><p>Enable the point cloud.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable the RGB point cloud.</p></li>
|
<li><p>Enable the RGB point cloud.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">cloud_frame_id</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">cloud_frame_id</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Modify the <code class="docutils literal notranslate"><span class="pre">frame_id</span></code> name within the ros message.</p></li>
|
<li><p>Modify the <code class="docutils literal notranslate"><span class="pre">frame_id</span></code> name within the ros message.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ordered_pc</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ordered_pc</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable filtering of invalid point clouds.</p></li>
|
<li><p>Enable filtering of invalid point clouds.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_qos</span></code>, <code class="docutils literal notranslate"><span class="pre">[stream]_qos</span></code>, <code class="docutils literal notranslate"><span class="pre">[stream]_camera_info_qos</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_qos</span></code>, <code class="docutils literal notranslate"><span class="pre">[stream]_qos</span></code>, <code class="docutils literal notranslate"><span class="pre">[stream]_camera_info_qos</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>ROS 2 Message Quality of Service (QoS) settings. The possible values are <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>, <code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>, <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code> and are case-insensitive. These correspond to <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code>, and <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>, respectively.</p></li>
|
<li><p>ROS 2 Message Quality of Service (QoS) settings. The possible values are <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>, <code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>, <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code> and are case-insensitive. These correspond to <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code>, and <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>, respectively.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable Color image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>.</p></li>
|
<li><p>Enable Color image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable Depth image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">["image_transport/compressedDepth",</span> <span class="pre">"image_transport/raw"]</span></code>.</p></li>
|
<li><p>Enable Depth image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">["image_transport/compressedDepth",</span> <span class="pre">"image_transport/raw"]</span></code>.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable Left IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>.</p></li>
|
<li><p>Enable Left IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Enable Right IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>.</p></li>
|
<li><p>Enable Right IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>Point cloud downsampling factor. Range: <code class="docutils literal notranslate"><span class="pre">1–8</span></code>. <code class="docutils literal notranslate"><span class="pre">1</span></code> means no downsampling; larger values apply stronger decimation.</p></li>
|
<li><p>Point cloud downsampling factor. Range: <code class="docutils literal notranslate"><span class="pre">1–8</span></code>. <code class="docutils literal notranslate"><span class="pre">1</span></code> means no downsampling.</p></li>
|
||||||
</ul>
|
|
||||||
</li>
|
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
|
|
||||||
<ul>
|
|
||||||
<li><p>Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Only supported on specific devices like Gemini2. Leave empty to disable.</p></li>
|
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</ul>
|
||||||
@@ -597,7 +600,7 @@
|
|||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
|
||||||
<ul class="simple">
|
<ul class="simple">
|
||||||
<li><p>Enable the depth scale.</p></li>
|
<li><p>Whether to enable depth scaling after setting D2C. <code class="docutils literal notranslate"><span class="pre">true</span></code> means enabled, the default is <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_precision</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_precision</span></code></strong></p>
|
||||||
@@ -749,9 +752,9 @@
|
|||||||
<section id="device-specific">
|
<section id="device-specific">
|
||||||
<h3><span class="section-number">4.1.3.3. </span>Device-Specific<a class="headerlink" href="#device-specific" title="Link to this heading"></a></h3>
|
<h3><span class="section-number">4.1.3.3. </span>Device-Specific<a class="headerlink" href="#device-specific" title="Link to this heading"></a></h3>
|
||||||
<ul class="simple">
|
<ul class="simple">
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
|
||||||
<ul>
|
<ul>
|
||||||
<li><p>The default value is <code class="docutils literal notranslate"><span class="pre">Default</span></code>. Only the G330 series is supported. For more information, refer to the <a class="reference external" href="https://www.orbbec.com/docs/g330-use-depth-presets/">G330 documentation</a>. The value should be one of the preset names listed <a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html"><span class="doc">in the table</span></a>.</p></li>
|
<li><p>Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Only supported on 435Le. Leave empty to disable.</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code></strong></p>
|
||||||
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|
|||||||
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|
||||||
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|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
|
|||||||
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|
|||||||
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|
||||||
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|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
|
|||||||
@@ -753,7 +753,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
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|
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|
||||||
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||||||
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|
||||||
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|
|||||||
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||||||
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
||||||
|
|||||||
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|
|||||||
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||||||
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|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
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||||||
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|
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|
||||||
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||||||
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|||||||
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||||||
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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||||||
|
|||||||
+1
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@@ -428,7 +428,7 @@ resolutions is as follows:</p>
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|||||||
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|
||||||
<div role="contentinfo">
|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
|
|||||||
@@ -446,7 +446,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
|
|||||||
|
|
||||||
<div role="contentinfo">
|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
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||||||
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|
||||||
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||||||
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||||||
|
|||||||
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|
|||||||
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|
||||||
<div role="contentinfo">
|
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
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|
||||||
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|
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|
||||||
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|
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|
||||||
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|
||||||
|
|||||||
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|
|||||||
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|
||||||
<div role="contentinfo">
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
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||||||
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|
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|
||||||
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|
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|
||||||
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|
||||||
|
|||||||
@@ -510,7 +510,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
|||||||
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||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
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||||||
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||||||
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||||||
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||||||
|
|||||||
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|
|||||||
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|
||||||
<div role="contentinfo">
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
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||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
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||||||
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||||||
|
|||||||
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|
|||||||
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|
||||||
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
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||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
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||||||
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|
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|
||||||
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||||||
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|||||||
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-1
@@ -578,7 +578,7 @@ See <a class="reference internal" href="../performance/fastdds_tuning.html"><spa
|
|||||||
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|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
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||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
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||||||
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||||||
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||||||
|
|||||||
@@ -553,7 +553,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
|
|||||||
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||||||
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||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||||
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||||||
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|
||||||
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|
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||||||
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|||||||
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||||||
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|
||||||
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||||||
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|
||||||
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||||||
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|
||||||
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|
|
||||||
|
|||||||
@@ -417,7 +417,7 @@ language governing permissions and limitations under the License.</p>
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -422,7 +422,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -464,11 +464,11 @@ rviz2
|
|||||||
<ul class="simple">
|
<ul class="simple">
|
||||||
<li><p><code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> visualization example:</p></li>
|
<li><p><code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> visualization example:</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
<p><img alt="module in rviz2" src="source/lidar_devices/docs/images/lidar0.jpg" /></p>
|
<p><img alt="module in rviz2" src="../../_images/lidar0.jpg" /></p>
|
||||||
<ul class="simple">
|
<ul class="simple">
|
||||||
<li><p><code class="docutils literal notranslate"><span class="pre">LaserScan</span></code> visualization example:</p></li>
|
<li><p><code class="docutils literal notranslate"><span class="pre">LaserScan</span></code> visualization example:</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
<p><img alt="module in rviz2" src="source/lidar_devices/docs/images/lidar1.png" /></p>
|
<p><img alt="module in rviz2" src="../../_images/lidar1.png" /></p>
|
||||||
</section>
|
</section>
|
||||||
</section>
|
</section>
|
||||||
<section id="usage">
|
<section id="usage">
|
||||||
@@ -626,7 +626,7 @@ ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||||
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
|
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
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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>full maintenance</td>
|
||||||
<td>recommended for new designs</td>
|
<td>recommended for new designs</td>
|
||||||
</tr>
|
</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>
|
</tbody>
|
||||||
</table>
|
</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** |
|
| **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 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 |
|
| 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 |
|
| 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 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 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 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 | [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 |
|
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
|
||||||
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
|
| Femto Bolt | [1.1.2](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 | [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 |
|
| 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 |
|
| 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。
|
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。
|
||||||
|
|
||||||
|
|||||||
@@ -14,6 +14,11 @@
|
|||||||
* 相机的USB端口。当使用多个相机时需要此参数。
|
* 相机的USB端口。当使用多个相机时需要此参数。
|
||||||
* **`device_num`**
|
* **`device_num`**
|
||||||
* 设备数量。如果需要多个相机，必须填写此参数。
|
* 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]`**
|
* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
|
||||||
* 传感器流的分辨率和帧率。
|
* 传感器流的分辨率和帧率。
|
||||||
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
|
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
|
||||||
@@ -42,9 +47,7 @@
|
|||||||
* **`right_ir.image_raw.enable_pub_plugins`**
|
* **`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"]`。
|
* 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`**
|
* **`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。
|
* 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。
|
||||||
* **`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。
|
|
||||||
|
|
||||||
### 传感器控制
|
### 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`。
|
* 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。
|
> **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`**
|
* **`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`**
|
* **`depth_precision`**
|
||||||
* 深度精度应为 `1mm` 格式。默认值为 `1mm`。
|
* 深度精度应为 `1mm` 格式。默认值为 `1mm`。
|
||||||
* **`depth_ae_roi_[left|right|top|bottom]`**
|
* **`depth_ae_roi_[left|right|top|bottom]`**
|
||||||
@@ -147,11 +150,10 @@
|
|||||||
> 用于 [网络相机](../5_advanced_guide/configuration/net_camera.md)。
|
> 用于 [网络相机](../5_advanced_guide/configuration/net_camera.md)。
|
||||||
|
|
||||||
#### 设备特定
|
#### 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`**
|
* **`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)。
|
* 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
|
#### 视差
|
||||||
* **`disparity_to_depth_mode`**
|
* **`disparity_to_depth_mode`**
|
||||||
|
|||||||
@@ -59,11 +59,11 @@ rviz2
|
|||||||
|
|
||||||
* `PointCloud2`可视化示例：
|
* `PointCloud2`可视化示例：
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
* `LaserScan`可视化示例：
|
* `LaserScan`可视化示例：
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
## 使用方法
|
## 使用方法
|
||||||
|
|
||||||
|
|||||||
+1
-1
@@ -411,7 +411,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
+1
-1
@@ -502,7 +502,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
+1
-1
@@ -419,7 +419,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
+1
-1
File diff suppressed because one or more lines are too long
@@ -528,6 +528,17 @@
|
|||||||
<td>full maintenance</td>
|
<td>full maintenance</td>
|
||||||
<td>recommended for new designs</td>
|
<td>recommended for new designs</td>
|
||||||
</tr>
|
</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>
|
</tbody>
|
||||||
</table><p><strong>注意</strong>: 如果未找到您的设备，请联系我们的 FAE 或销售代表获取帮助。</p>
|
</table><p><strong>注意</strong>: 如果未找到您的设备，请联系我们的 FAE 或销售代表获取帮助。</p>
|
||||||
<p><strong>术语定义</strong>:</p>
|
<p><strong>术语定义</strong>:</p>
|
||||||
@@ -564,7 +575,7 @@
|
|||||||
</tr>
|
</tr>
|
||||||
<tr>
|
<tr>
|
||||||
<td>Gemini 435Le</td>
|
<td>Gemini 435Le</td>
|
||||||
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">1.3.2</a></td>
|
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">1.3.6</a></td>
|
||||||
<td>gemini435_le.launch.py</td>
|
<td>gemini435_le.launch.py</td>
|
||||||
</tr>
|
</tr>
|
||||||
<tr>
|
<tr>
|
||||||
@@ -612,6 +623,16 @@
|
|||||||
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip">2.8.20</a></td>
|
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip">2.8.20</a></td>
|
||||||
<td>astra2.launch.py</td>
|
<td>astra2.launch.py</td>
|
||||||
</tr>
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Pulsar SL450</td>
|
||||||
|
<td>2.2.4.5</td>
|
||||||
|
<td>lidar.launch.py</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Pulsar ME450</td>
|
||||||
|
<td>1.0.0.6</td>
|
||||||
|
<td>lidar.launch.py</td>
|
||||||
|
</tr>
|
||||||
</tbody>
|
</tbody>
|
||||||
</table><p>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。</p>
|
</table><p>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。</p>
|
||||||
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|
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|
||||||
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
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<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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|
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|
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
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<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
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<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
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|
||||||
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|
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|
|||||||
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|
|||||||
<p>以下是可用的启动参数：</p>
|
<p>以下是可用的启动参数：</p>
|
||||||
<section id="id2">
|
<section id="id2">
|
||||||
<h2><span class="section-number">4.1.1. </span>核心与数据流配置<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
<h2><span class="section-number">4.1.1. </span>核心与数据流配置<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||||
<ul class="simple">
|
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
|
|
||||||
<ul>
|
<ul>
|
||||||
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
|
||||||
|
<ul class="simple">
|
||||||
<li><p>启动节点的命名空间。</p></li>
|
<li><p>启动节点的命名空间。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">serial_number</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">serial_number</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>相机的序列号。当使用多个相机时需要此参数。</p></li>
|
<li><p>相机的序列号。当使用多个相机时需要此参数。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">usb_port</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">usb_port</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>相机的USB端口。当使用多个相机时需要此参数。</p></li>
|
<li><p>相机的USB端口。当使用多个相机时需要此参数。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_num</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_num</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>设备数量。如果需要多个相机，必须填写此参数。</p></li>
|
<li><p>设备数量。如果需要多个相机，必须填写此参数。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
|
||||||
|
<ul class="simple">
|
||||||
|
<li><p>默认值为 <code class="docutils literal notranslate"><span class="pre">Default</span></code>。可以使用下面命令查看可设置模式</p></li>
|
||||||
|
</ul>
|
||||||
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_camera_profile_mode_node
|
||||||
|
</pre></div>
|
||||||
|
</div>
|
||||||
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>传感器流的分辨率和帧率。</p></li>
|
<li><p>传感器流的分辨率和帧率。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_rotation</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_rotation</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>设置流图像旋转。</p></li>
|
<li><p>设置流图像旋转。</p></li>
|
||||||
<li><p>可能的值为 <code class="docutils literal notranslate"><span class="pre">0</span></code>、<code class="docutils literal notranslate"><span class="pre">90</span></code>、<code class="docutils literal notranslate"><span class="pre">180</span></code>、<code class="docutils literal notranslate"><span class="pre">270</span></code>。</p></li>
|
<li><p>可能的值为 <code class="docutils literal notranslate"><span class="pre">0</span></code>、<code class="docutils literal notranslate"><span class="pre">90</span></code>、<code class="docutils literal notranslate"><span class="pre">180</span></code>、<code class="docutils literal notranslate"><span class="pre">270</span></code>。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_flip</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_flip</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用流图像翻转。</p></li>
|
<li><p>启用流图像翻转。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_mirror</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_mirror</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用流图像镜像。</p></li>
|
<li><p>启用流图像镜像。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用点云。</p></li>
|
<li><p>启用点云。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用RGB点云。</p></li>
|
<li><p>启用RGB点云。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">cloud_frame_id</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">cloud_frame_id</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>修改ros消息中的 <code class="docutils literal notranslate"><span class="pre">frame_id</span></code> 名称。</p></li>
|
<li><p>修改ros消息中的 <code class="docutils literal notranslate"><span class="pre">frame_id</span></code> 名称。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ordered_pc</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ordered_pc</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用无效点云过滤。</p></li>
|
<li><p>启用无效点云过滤。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_qos</span></code>、<code class="docutils literal notranslate"><span class="pre">[stream]_qos</span></code>、<code class="docutils literal notranslate"><span class="pre">[stream]_camera_info_qos</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_qos</span></code>、<code class="docutils literal notranslate"><span class="pre">[stream]_qos</span></code>、<code class="docutils literal notranslate"><span class="pre">[stream]_camera_info_qos</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>ROS 2消息服务质量（QoS）设置。可能的值为 <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>、<code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>、<code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>，不区分大小写。这些分别对应 <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code> 和 <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>。</p></li>
|
<li><p>ROS 2消息服务质量（QoS）设置。可能的值为 <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>、<code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>、<code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>，不区分大小写。这些分别对应 <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code> 和 <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用彩色图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
<li><p>启用彩色图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用深度图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressedDepth",</span> <span class="pre">"image_transport/raw"]</span></code>。</p></li>
|
<li><p>启用深度图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressedDepth",</span> <span class="pre">"image_transport/raw"]</span></code>。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用左红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
<li><p>启用左红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>启用右红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
<li><p>启用右红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
|
||||||
<ul>
|
<ul class="simple">
|
||||||
<li><p>点云下采样因子。范围：<code class="docutils literal notranslate"><span class="pre">1–8</span></code>，<code class="docutils literal notranslate"><span class="pre">1</span></code>表示不下采样，数值越大下采样越强。</p></li>
|
<li><p>点云下采样因子。范围：<code class="docutils literal notranslate"><span class="pre">1–8</span></code>，<code class="docutils literal notranslate"><span class="pre">1</span></code>表示不下采样，数值越大下采样倍数越大。</p></li>
|
||||||
</ul>
|
|
||||||
</li>
|
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
|
|
||||||
<ul>
|
|
||||||
<li><p>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。</p></li>
|
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</ul>
|
||||||
@@ -598,7 +601,7 @@
|
|||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
|
||||||
<ul class="simple">
|
<ul class="simple">
|
||||||
<li><p>启用深度缩放。</p></li>
|
<li><p>设置D2C后是否启用深度缩放。<code class="docutils literal notranslate"><span class="pre">true</span></code>表示启用，默认为<code class="docutils literal notranslate"><span class="pre">true</span></code>。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_precision</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_precision</span></code></strong></p>
|
||||||
@@ -750,16 +753,16 @@
|
|||||||
<section id="id10">
|
<section id="id10">
|
||||||
<h3><span class="section-number">4.1.3.3. </span>设备特定<a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
|
<h3><span class="section-number">4.1.3.3. </span>设备特定<a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
|
||||||
<ul class="simple">
|
<ul class="simple">
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
|
|
||||||
<ul>
|
|
||||||
<li><p>默认值为 <code class="docutils literal notranslate"><span class="pre">Default</span></code>。仅支持G330系列。有关更多信息，请参阅 <a class="reference external" href="https://www.orbbec.com/docs/g330-use-depth-presets/">G330文档</a>。该值应为 <a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html"><span class="doc">表中列出</span></a> 的预设名称之一。</p></li>
|
|
||||||
</ul>
|
|
||||||
</li>
|
|
||||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code></strong></p>
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code></strong></p>
|
||||||
<ul>
|
<ul>
|
||||||
<li><p>启用gmsl触发输出信号 / 设置gmsl触发fps。用于 <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl相机</span></a>。</p></li>
|
<li><p>启用gmsl触发输出信号 / 设置gmsl触发fps。用于 <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl相机</span></a>。</p></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
|
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
|
||||||
|
<ul>
|
||||||
|
<li><p>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。</p></li>
|
||||||
|
</ul>
|
||||||
|
</li>
|
||||||
</ul>
|
</ul>
|
||||||
</section>
|
</section>
|
||||||
<section id="id11">
|
<section id="id11">
|
||||||
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|
|||||||
|
|
||||||
<div role="contentinfo">
|
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|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
|
|||||||
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|
|||||||
|
|
||||||
<div role="contentinfo">
|
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|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
|
|||||||
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|
|||||||
|
|
||||||
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|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
|
|||||||
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|
|||||||
|
|
||||||
<div role="contentinfo">
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|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
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|
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|
||||||
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|
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|
||||||
|
|
||||||
|
|||||||
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|
|||||||
|
|
||||||
<div role="contentinfo">
|
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|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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|
||||||
|
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||||||
|
|||||||
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|||||||
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|
||||||
<div role="contentinfo">
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||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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|
||||||
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|
||||||
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|
|||||||
+1
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||||||
<div role="contentinfo">
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||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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||||||
<div role="contentinfo">
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||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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|||||||
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||||||
<div role="contentinfo">
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|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<div role="contentinfo">
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||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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|
||||||
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|
||||||
|
|||||||
@@ -508,7 +508,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
|||||||
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|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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||||||
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||||||
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|||||||
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|
||||||
<div role="contentinfo">
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|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
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<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
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|
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|
||||||
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|
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|
||||||
|
|
||||||
|
|||||||
@@ -478,7 +478,7 @@
|
|||||||
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|
||||||
<div role="contentinfo">
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|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -507,7 +507,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -495,7 +495,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
+1
-1
@@ -569,7 +569,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
+1
-1
@@ -449,7 +449,7 @@
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
@@ -546,7 +546,7 @@ net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
|
|||||||
|
|
||||||
<div role="contentinfo">
|
<div role="contentinfo">
|
||||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||||
<span class="lastupdated">最后更新于 2026年01月04日 01:36:42.
|
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
|
||||||
</span></p>
|
</span></p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|||||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user