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zh/source/camera_devices/4_application_guide/application_guide.html
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>4. 应用指南 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
@@ -16,9 +16,9 @@
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
<script src="../../../_static/translations.js?v=beaddf03"></script>
<script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
<script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
<script src="../../../_static/translations.js?v=540d3cec"></script>
<script src="../../../_static/js/theme.js"></script>
<link rel="index" title="索引" href="../../../genindex.html" />
<link rel="search" title="搜索" href="../../../search.html" />
@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
@@ -401,7 +401,7 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
<h1><span class="section-number">4. </span>应用指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">4. </span>应用指南<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<p>本章介绍使用SDK进行应用开发，包括启动参数配置、ROS2服务和话题使用。</p>
<div class="toctree-wrapper compound">
<ul>
@@ -414,7 +414,7 @@
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l1"><a class="reference internal" href="services.html">4.2. 可用服务</a><ul>
<li class="toctree-l2"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
@@ -461,7 +461,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
<span class="lastupdated">最后更新于 2026年01月13日 02:41:42.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/compressed_image.html
+7 -7
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>4.5. 压缩图像 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
@@ -16,9 +16,9 @@
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
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<script src="../../../_static/translations.js?v=beaddf03"></script>
<script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
<script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
<script src="../../../_static/translations.js?v=540d3cec"></script>
<script src="../../../_static/js/theme.js"></script>
<link rel="index" title="索引" href="../../../genindex.html" />
<link rel="search" title="搜索" href="../../../search.html" />
@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,7 +402,7 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
<h1><span class="section-number">4.5. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.5. </span>压缩图像<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<p>您可以使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 通过 <code class="docutils literal notranslate"><span class="pre">jpeg</span></code> 压缩图像。以下是使用示例：</p>
<p>要访问压缩的彩色图像，可以使用以下命令：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
@@ -423,7 +423,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
<span class="lastupdated">最后更新于 2026年01月13日 02:41:42.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/coordinate_and_tf.html
+16 -16
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@@ -8,7 +8,7 @@
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>4.4. 坐标系和 TF 变换 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
@@ -16,9 +16,9 @@
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
<script src="../../../_static/translations.js?v=beaddf03"></script>
<script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
<script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
<script src="../../../_static/translations.js?v=540d3cec"></script>
<script src="../../../_static/js/theme.js"></script>
<link rel="index" title="索引" href="../../../genindex.html" />
<link rel="search" title="搜索" href="../../../search.html" />
@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,14 +402,14 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="tf">
<h1><span class="section-number">4.4. </span>坐标系和 TF 变换<a class="headerlink" href="#tf" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.4. </span>坐标系和 TF 变换<a class="headerlink" href="#tf" title="链接到此标题。"></a></h1>
<section id="id1">
<h2><span class="section-number">4.4.1. </span>相机传感器结构<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.4.1. </span>相机传感器结构<a class="headerlink" href="#id1" title="链接到此标题。"></a></h2>
<p><img alt="module in rviz2" src="../../../_images/image3.png" /></p>
<p><img alt="module in rviz2" src="../../../_images/image1.png" /></p>
</section>
<section id="abtf">
<h2><span class="section-number">4.4.2. </span>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.4.2. </span>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="链接到此标题。"></a></h2>
<p>在Orbbec相机中，原点（0,0,0）取自camera_link位置。</p>
<p>可以使用以下命令查看相机的URDF模型和坐标系结构：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
@@ -418,7 +418,7 @@
<p><img alt="rviz2中的模块" src="../../../_images/image2.png" /></p>
</section>
<section id="ros2-vs">
<h2><span class="section-number">4.4.3. </span>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.4.3. </span>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="链接到此标题。"></a></h2>
<ul class="simple">
<li><p>视角：</p>
<ul>
@@ -436,9 +436,9 @@
</ul>
</section>
<section id="ros2-tf">
<h2><span class="section-number">4.4.4. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.4.4. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="链接到此标题。"></a></h2>
<section id="id2">
<h3><span class="section-number">4.4.4.1. </span>查看TF树结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.4.4.1. </span>查看TF树结构<a class="headerlink" href="#id2" title="链接到此标题。"></a></h3>
<p>可以使用以下ROS2命令来打印和可视化相机包发布的TF树：</p>
<p><strong>打印所有TF关系：</strong></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
@@ -481,7 +481,7 @@
</div>
</section>
<section id="rviz2tf">
<h3><span class="section-number">4.4.4.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.4.4.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="链接到此标题。"></a></h3>
<p>在rviz2中可以实时可视化TF树结构和坐标系的相对位置：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
</pre></div>
@@ -496,9 +496,9 @@
</section>
</section>
<section id="id3">
<h2><span class="section-number">4.4.5. </span>相机TF计算和发布机制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.4.5. </span>相机TF计算和发布机制<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
<section id="obcameranode-calcandpublishstatictransform">
<h3><span class="section-number">4.4.5.1. </span>核心函数：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.4.5.1. </span>核心函数：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="链接到此标题。"></a></h3>
<p>相机节点通过此函数计算和发布所有传感器之间的静态转换关系。</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">OBCameraNode::calcAndPublishStaticTransform</span><span class="p">()</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -668,7 +668,7 @@
</div>
</section>
<section id="id4">
<h3><span class="section-number">4.4.5.2. </span>函数解析<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.4.5.2. </span>函数解析<a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
<p>下面是代码的详细解释：</p>
<p><strong>四元数初始化与坐标系变换</strong></p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -764,7 +764,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
<span class="lastupdated">最后更新于 2026年01月13日 02:41:42.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/launch_parameters.html
+67 -40
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@@ -8,7 +8,7 @@
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>4.1. 启动参数 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
@@ -16,13 +16,13 @@
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
<script src="../../../_static/translations.js?v=beaddf03"></script>
<script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
<script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
<script src="../../../_static/translations.js?v=540d3cec"></script>
<script src="../../../_static/js/theme.js"></script>
<link rel="index" title="索引" href="../../../genindex.html" />
<link rel="search" title="搜索" href="../../../search.html" />
<link rel="next" title="4.2. 所有可用的相机控制服务" href="services.html" />
<link rel="next" title="4.2. 可用服务" href="services.html" />
<link rel="prev" title="4. 应用指南" href="application_guide.html" />
</head>
@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,13 +402,13 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
<h1><span class="section-number">4.1. </span>启动参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.1. </span>启动参数<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<blockquote>
<div><p>如果您不确定如何设置参数，可以连接orbbec相机并打开 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK/releases">OrbbecViewer</a>。</p>
</div></blockquote>
<p>以下是可用的启动参数：</p>
<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="链接到此标题。"></a></h2>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
<ul class="simple">
@@ -512,9 +512,9 @@
</ul>
</section>
<section id="id3">
<h2><span class="section-number">4.1.2. </span>传感器控制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.1.2. </span>传感器控制<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
<section id="id4">
<h3><span class="section-number">4.1.2.1. </span>彩色流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.2.1. </span>彩色流<a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_auto_exposure</span></code></strong></p>
<ul>
@@ -584,7 +584,7 @@
</ul>
</section>
<section id="id5">
<h3><span class="section-number">4.1.2.2. </span>深度流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.2.2. </span>深度流<a class="headerlink" href="#id5" title="链接到此标题。"></a></h3>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_auto_exposure_priority</span></code></strong></p>
<ul class="simple">
@@ -593,7 +593,7 @@
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point</span></code></strong></p>
<ul class="simple">
<li><p>设置深度图像的目标平均强度。例如：<code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>。</p></li>
<li><p>设置开启自动曝光时深度图像的目标平均强度。例如：<code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>。</p></li>
</ul>
<blockquote>
<div><p><strong>注意：</strong> 这取代了已弃用的 <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>，后者仍支持以保持向后兼容性。</p>
@@ -617,7 +617,7 @@
</ul>
</section>
<section id="id6">
<h3><span class="section-number">4.1.2.3. </span>红外流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.2.3. </span>红外流<a class="headerlink" href="#id6" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ir_auto_exposure</span></code></strong></p>
<ul>
@@ -636,13 +636,13 @@
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ir_brightness</span></code></strong></p>
<ul>
<li><p>设置红外亮度。</p></li>
<li><p>设置开启自动曝光时ir图像的目标平均强度。</p></li>
</ul>
</li>
</ul>
</section>
<section id="ldp">
<h3><span class="section-number">4.1.2.4. </span>激光 / LDP<a class="headerlink" href="#ldp" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.2.4. </span>激光 / LDP<a class="headerlink" href="#ldp" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_laser</span></code></strong></p>
<ul>
@@ -663,9 +663,9 @@
</section>
</section>
<section id="id7">
<h2><span class="section-number">4.1.3. </span>设备、同步与高级功能<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.1.3. </span>设备、同步与高级功能<a class="headerlink" href="#id7" title="链接到此标题。"></a></h2>
<section id="id8">
<h3><span class="section-number">4.1.3.1. </span>多相机同步<a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.3.1. </span>多相机同步<a class="headerlink" href="#id8" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">sync_mode</span></code></strong></p>
<ul>
@@ -708,7 +708,7 @@
</div></blockquote>
</section>
<section id="id9">
<h3><span class="section-number">4.1.3.2. </span>网络相机<a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.3.2. </span>网络相机<a class="headerlink" href="#id9" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
<ul>
@@ -751,22 +751,54 @@
</div></blockquote>
</section>
<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>
<ul class="simple">
<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>
<h3><span class="section-number">4.1.3.3. </span>设备特定<a class="headerlink" href="#id10" title="链接到此标题。"></a></h3>
<ul>
<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 class="simple">
<li><p>启用gmsl触发输出信号 / 设置gmsl触发fps。用于 <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl相机</span></a>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>摄像头设备的预设分辨率配置。格式: &quot;width,height,ir_decimation_factor,depth_decimation_factor&quot;. Example: &quot;1280,720,4,4&quot;. 仅在 Gemini435Le 设备上受支持。留空禁用。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ae_mode</span></code></strong></p>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">colorbased</span></code>：自动曝光基于彩色流。<code class="docutils literal notranslate"><span class="pre">depthbased</span></code>：自动曝光基于深度流。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">depthbased</span></code></p>
<blockquote>
<div><p>仅支持Gemini 305。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enalbe_sports_mode</span></code></strong></p>
<ul>
<li><p>是否开启运动模式。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p>
<blockquote>
<div><p>仅支持Gemini 305。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_downscale</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">left_ir_downscale</span></code></strong> /<strong><code class="docutils literal notranslate"><span class="pre">right_ir_downscale</span></code></strong></p>
<ul>
<li><p>设置下采样倍数。可用<code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_camera_profile_mode_node</span></code>查看可设置分辨率。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">1</span></code></p>
<blockquote>
<div><p>仅支持Gemini 305。</p>
</div></blockquote>
</li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
<ul class="simple">
<li><p>启用PTP时间同步。仅适用于Gemini 335Le。需要 <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id11">
<h3><span class="section-number">4.1.3.4. </span>视差<a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.3.4. </span>视差<a class="headerlink" href="#id11" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">disparity_to_depth_mode</span></code></strong></p>
<ul>
@@ -781,7 +813,7 @@
</ul>
</section>
<section id="ae">
<h3><span class="section-number">4.1.3.5. </span>交错AE模式<a class="headerlink" href="#ae" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.3.5. </span>交错AE模式<a class="headerlink" href="#ae" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code></strong></p>
<ul>
@@ -802,7 +834,7 @@
</ul>
</section>
<section id="id12">
<h3><span class="section-number">4.1.3.6. </span>相机内同步<a class="headerlink" href="#id12" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.3.6. </span>相机内同步<a class="headerlink" href="#id12" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
<ul>
@@ -831,9 +863,9 @@
</section>
</section>
<section id="id13">
<h2><span class="section-number">4.1.4. </span>基础与通用参数<a class="headerlink" href="#id13" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.1.4. </span>基础与通用参数<a class="headerlink" href="#id13" title="链接到此标题。"></a></h2>
<section id="id14">
<h3><span class="section-number">4.1.4.1. </span>固件与后端<a class="headerlink" href="#id14" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.4.1. </span>固件与后端<a class="headerlink" href="#id14" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">upgrade_firmware</span></code></strong></p>
<ul>
@@ -863,7 +895,7 @@
</ul>
</section>
<section id="tf">
<h3><span class="section-number">4.1.4.2. </span>TF、外参与校准<a class="headerlink" href="#tf" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.4.2. </span>TF、外参与校准<a class="headerlink" href="#tf" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">publish_tf</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">tf_publish_rate</span></code></strong></p>
<ul>
@@ -888,7 +920,7 @@
</ul>
</section>
<section id="id15">
<h3><span class="section-number">4.1.4.3. </span>时间同步<a class="headerlink" href="#id15" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.4.3. </span>时间同步<a class="headerlink" href="#id15" title="链接到此标题。"></a></h3>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code></strong></p>
<ul class="simple">
@@ -908,11 +940,6 @@
<div><p><strong>注意</strong>：仅当 <strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code></strong> 且 <strong><code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code></strong> 时需要设置此参数。</p>
</div></blockquote>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
<ul class="simple">
<li><p>启用PTP时间同步。仅适用于Gemini 335Le。需要 <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_frame_sync</span></code></strong></p>
<ul class="simple">
<li><p>启用帧同步。</p></li>
@@ -921,7 +948,7 @@
</ul>
</section>
<section id="id16">
<h3><span class="section-number">4.1.4.4. </span>日志与诊断<a class="headerlink" href="#id16" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.4.4. </span>日志与诊断<a class="headerlink" href="#id16" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
<ul>
@@ -946,7 +973,7 @@
</ul>
</section>
<section id="id17">
<h3><span class="section-number">4.1.4.5. </span>其他<a class="headerlink" href="#id17" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.1.4.5. </span>其他<a class="headerlink" href="#id17" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">config_file_path</span></code></strong></p>
<ul>
@@ -967,7 +994,7 @@
</section>
</section>
<section id="imu">
<h2><span class="section-number">4.1.5. </span>IMU<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.1.5. </span>IMU<a class="headerlink" href="#imu" title="链接到此标题。"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_accel</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code></strong></p>
<ul>
@@ -1002,7 +1029,7 @@
</ul>
</section>
<section id="id18">
<h2><span class="section-number">4.1.6. </span>深度滤波器<a class="headerlink" href="#id18" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.1.6. </span>深度滤波器<a class="headerlink" href="#id18" title="链接到此标题。"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_decimation_filter</span></code></strong></p>
<ul>
@@ -1072,14 +1099,14 @@
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zh/source/camera_devices/4_application_guide/point_cloud.html
+13 -13
View File
@@ -8,7 +8,7 @@
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>4.6. 在ROS 2中启用和可视化点云 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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@@ -16,9 +16,9 @@
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@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,19 +402,19 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros-2">
<h1><span class="section-number">4.6. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.6. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="链接到此标题。"></a></h1>
<p>本节演示如何从相机节点启用点云数据输出并使用RViz2进行可视化。</p>
<section id="id1">
<h2><span class="section-number">4.6.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.6.1. </span>启用深度点云<a class="headerlink" href="#id1" title="链接到此标题。"></a></h2>
<section id="id2">
<h3><span class="section-number">4.6.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.6.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="链接到此标题。"></a></h3>
<p>要激活深度信息的点云数据流，使用以下命令：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="rviz2">
<h3><span class="section-number">4.6.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.6.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="链接到此标题。"></a></h3>
<p>运行上述命令后，执行以下步骤可视化深度点云：</p>
<ol class="simple">
<li><p>打开RViz2。</p></li>
@@ -430,16 +430,16 @@
</section>
</section>
<section id="id3">
<h2><span class="section-number">4.6.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.6.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
<section id="id4">
<h3><span class="section-number">4.6.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.6.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
<p>要启用彩色点云功能，输入以下命令：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="id5">
<h3><span class="section-number">4.6.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.6.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="链接到此标题。"></a></h3>
<p>要可视化彩色点云数据：</p>
<ol class="simple">
<li><p>执行命令后启动RViz2。</p></li>
@@ -468,7 +468,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
<span class="lastupdated">最后更新于 2026年01月13日 02:41:42.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/services.html
+20 -20
View File
@@ -6,9 +6,9 @@
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>4.2. 所有可用的相机控制服务 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<title>4.2. 可用服务 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
@@ -16,9 +16,9 @@
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
<script src="../../../_static/translations.js?v=beaddf03"></script>
<script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
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<script src="../../../_static/js/theme.js"></script>
<link rel="index" title="索引" href="../../../genindex.html" />
<link rel="search" title="搜索" href="../../../search.html" />
@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3 current"><a class="current reference internal" href="#">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="#id4">4.2.1.2. 深度流</a></li>
@@ -391,7 +391,7 @@
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>应用指南</a></li>
<li class="breadcrumb-item active"><span class="section-number">4.2. </span>所有可用的相机控制服务</li>
<li class="breadcrumb-item active"><span class="section-number">4.2. </span>可用服务</li>
<li class="wy-breadcrumbs-aside">
<a href="../../../_sources/source/camera_devices/4_application_guide/services.md.txt" rel="nofollow"> 查看页面源码</a>
</li>
@@ -402,14 +402,14 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
<h1><span class="section-number">4.2. </span>所有可用的相机控制服务<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.2. </span>可用服务<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<blockquote>
<div><p><strong>注意：</strong> 与特定数据流相关的服务（例如 <code class="docutils literal notranslate"><span class="pre">/camera/set_color_*</span></code>）仅在启动文件中启用该数据流时可用（例如 <code class="docutils literal notranslate"><span class="pre">enable_color:=true</span></code>）。</p>
</div></blockquote>
<section id="id2">
<h2><span class="section-number">4.2.1. </span>数据流控制<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.2.1. </span>数据流控制<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
<section id="id3">
<h3><span class="section-number">4.2.1.1. </span>彩色流<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.2.1.1. </span>彩色流<a class="headerlink" href="#id3" title="链接到此标题。"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_color</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_color<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -449,7 +449,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id4">
<h3><span class="section-number">4.2.1.2. </span>深度流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.2.1.2. </span>深度流<a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_depth</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_depth<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -489,7 +489,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id5">
<h3><span class="section-number">4.2.1.3. </span>红外流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.2.1.3. </span>红外流<a class="headerlink" href="#id5" title="链接到此标题。"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_ir</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_ir<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -533,7 +533,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id6">
<h3><span class="section-number">4.2.1.4. </span>所有数据流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.2.1.4. </span>所有数据流<a class="headerlink" href="#id6" title="链接到此标题。"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_streams_enable</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/set_streams_enable</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_streams_enable<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
@@ -545,7 +545,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</section>
</section>
<section id="id7">
<h2><span class="section-number">4.2.2. </span>传感器与发射器控制<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.2.2. </span>传感器与发射器控制<a class="headerlink" href="#id7" title="链接到此标题。"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_auto_white_balance</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_auto_white_balance</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_auto_white_balance<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -598,7 +598,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id8">
<h2><span class="section-number">4.2.3. </span>设备信息与管理<a class="headerlink" href="#id8" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.2.3. </span>设备信息与管理<a class="headerlink" href="#id8" title="链接到此标题。"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_device_info</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo
@@ -618,7 +618,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id9">
<h2><span class="section-number">4.2.4. </span>同步与触发<a class="headerlink" href="#id9" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.2.4. </span>同步与触发<a class="headerlink" href="#id9" title="链接到此标题。"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/send_software_trigger</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/send_software_trigger<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -645,7 +645,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id10">
<h2><span class="section-number">4.2.5. </span>深度滤波器配置<a class="headerlink" href="#id10" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.2.5. </span>深度滤波器配置<a class="headerlink" href="#id10" title="链接到此标题。"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_filter</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 设置DecimationFilter</span>
@@ -679,7 +679,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id11">
<h2><span class="section-number">4.2.6. </span>数据捕获与校准管理<a class="headerlink" href="#id11" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.2.6. </span>数据捕获与校准管理<a class="headerlink" href="#id11" title="链接到此标题。"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_images</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/save_images<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
@@ -726,7 +726,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="id12">
<h2><span class="section-number">4.2.7. </span>点云下采样<a class="headerlink" href="#id12" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.2.7. </span>点云下采样<a class="headerlink" href="#id12" title="链接到此标题。"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_point_cloud_decimation</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
@@ -754,7 +754,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
<span class="lastupdated">最后更新于 2026年01月13日 02:41:42.
</span></p>
</div>
zh/source/camera_devices/4_application_guide/topics.html
+13 -13
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@@ -8,7 +8,7 @@
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>4.3. 可用话题 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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@@ -16,14 +16,14 @@
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
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<link rel="index" title="索引" href="../../../genindex.html" />
<link rel="search" title="搜索" href="../../../search.html" />
<link rel="next" title="4.4. 坐标系和 TF 变换" href="coordinate_and_tf.html" />
<link rel="prev" title="4.2. 所有可用的相机控制服务" href="services.html" />
<link rel="prev" title="4.2. 可用服务" href="services.html" />
</head>
<body class="wy-body-for-nav">
@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,13 +402,13 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
<h1><span class="section-number">4.3. </span>可用话题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.3. </span>可用话题<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<p>话题按数据流和功能组织。默认情况下，所有话题都发布在 <code class="docutils literal notranslate"><span class="pre">/camera</span></code> 命名空间下，可以通过 <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> 启动参数进行更改。</p>
<blockquote>
<div><p><strong>注意：</strong> 特定数据流的话题（例如 <code class="docutils literal notranslate"><span class="pre">/camera/color/...</span></code>）只有在相应的启动参数（例如 <code class="docutils literal notranslate"><span class="pre">enable_color</span></code>）设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时才会发布。</p>
</div></blockquote>
<section id="id2">
<h2><span class="section-number">4.3.1. </span>图像流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.3.1. </span>图像流<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
<p>这些话题提供每个启用的相机数据流的原始图像数据和相应的校准信息。对于 <code class="docutils literal notranslate"><span class="pre">color</span></code>、<code class="docutils literal notranslate"><span class="pre">depth</span></code>、<code class="docutils literal notranslate"><span class="pre">ir</span></code>、<code class="docutils literal notranslate"><span class="pre">left_ir</span></code> 和 <code class="docutils literal notranslate"><span class="pre">right_ir</span></code> 数据流，模式是一致的。</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code></p>
@@ -459,7 +459,7 @@
</ul>
</section>
<section id="id3">
<h2><span class="section-number">4.3.2. </span>点云话题<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.3.2. </span>点云话题<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code></p>
<ul>
@@ -476,7 +476,7 @@
</ul>
</section>
<section id="imu">
<h2><span class="section-number">4.3.3. </span>IMU话题<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.3.3. </span>IMU话题<a class="headerlink" href="#imu" title="链接到此标题。"></a></h2>
<p>惯性测量单元（IMU）话题提供加速度计和陀螺仪数据。其行为取决于同步设置。</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/accel/sample</span></code></p>
@@ -500,7 +500,7 @@
</ul>
</section>
<section id="id4">
<h2><span class="section-number">4.3.4. </span>设备状态与诊断<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.3.4. </span>设备状态与诊断<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/device_status</span></code></p>
<ul>
@@ -525,7 +525,7 @@
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