deploy: da15b54f99

zh/source/camera_devices/5_advanced_guide/advanced_guide.html

@@ -8,7 +8,7 @@
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   <title>5. 高级指南 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
       <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
@@ -16,9 +16,9 @@
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       <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
       <script src="../../../_static/documentation_options.js?v=7d86a446"></script>
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-      <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>
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     <link rel="index" title="索引" href="../../../genindex.html" />
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@@ -132,7 +132,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -401,10 +401,10 @@
            <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">5. </span>高级指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5. </span>高级指南<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <p>本章介绍SDK的高级功能，包括多相机使用和特殊配置模式。</p>
 <section id="id2">
-<h2><span class="section-number">5.1. </span>性能与优化<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1. </span>性能与优化<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
@@ -430,7 +430,7 @@
 </div>
 </section>
 <section id="id3">
-<h2><span class="section-number">5.2. </span>多相机<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2. </span>多相机<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
@@ -461,7 +461,7 @@
 </div>
 </section>
 <section id="id4">
-<h2><span class="section-number">5.3. </span>配置与模式<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3. </span>配置与模式<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
@@ -508,7 +508,7 @@
 
   <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/5_advanced_guide/configuration/align_depth_color.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.1. 在 ROS 2 中对齐深度到彩色 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
 
   
@@ -16,9 +16,9 @@
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@@ -132,7 +132,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,10 +402,10 @@
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   <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">5.3.1. </span>在 ROS 2 中对齐深度到彩色<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.3.1. </span>在 ROS 2 中对齐深度到彩色<a class="headerlink" href="#ros-2" title="链接到此标题。"></a></h1>
 <p>本节说明如何使用 ROS 2 将深度图像与彩色图像对齐以创建叠加图像。这对于需要来自不同传感器模态的同步视觉信息的应用特别有用。</p>
 <section id="id1">
-<h2><span class="section-number">5.3.1.1. </span>对齐和查看深度和彩色图像的命令<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.1.1. </span>对齐和查看深度和彩色图像的命令<a class="headerlink" href="#id1" title="链接到此标题。"></a></h2>
 <ol>
 <li><p><strong>基本深度到彩色对齐：</strong></p>
 <p>要简单地将深度图像对齐到彩色图像，请使用以下命令：</p>
@@ -424,7 +424,7 @@
 </ol>
 </section>
 <section id="rviz2">
-<h2><span class="section-number">5.3.1.2. </span>在 RViz2 中选择话题<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.1.2. </span>在 RViz2 中选择话题<a class="headerlink" href="#rviz2" title="链接到此标题。"></a></h2>
 <p>要在 RViz2 中可视化对齐的图像：</p>
 <ol>
 <li><p>运行上述命令之一后启动 RViz2。</p></li>
@@ -434,7 +434,7 @@
 </ol>
 </section>
 <section id="id2">
-<h2><span class="section-number">5.3.1.3. </span>深度到彩色叠加示例<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.1.3. </span>深度到彩色叠加示例<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <p>在 RViz2 中选择适当的话题后，您将能够看到深度到彩色叠加图像。它可能看起来像这样：</p>
 <p><img alt="深度到彩色叠加图像" src="../../../../_images/image4.jpg" /></p>
 </section>
@@ -452,7 +452,7 @@
 
   <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/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.2. 深度 NFOV 和 WFOV 模式配置 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
 
   
@@ -16,9 +16,9 @@
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       <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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-      <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>
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     <link rel="index" title="索引" href="../../../../genindex.html" />
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@@ -132,7 +132,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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="nfov-wfov">
-<h1><span class="section-number">5.3.2. </span>深度 NFOV 和 WFOV 模式配置<a class="headerlink" href="#nfov-wfov" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.3.2. </span>深度 NFOV 和 WFOV 模式配置<a class="headerlink" href="#nfov-wfov" title="链接到此标题。"></a></h1>
 <p>对于 Femto Mega 和 Femto Bolt 设备，NFOV 和 WFOV 模式通过在启动文件中配置深度和 IR 的分辨率来实现。</p>
 <p>在启动文件中，depth_width、depth_height、ir_width、ir_height 分别表示深度的分辨率和 IR 的分辨率。</p>
 <p>IR 的帧率和分辨率必须与深度保持一致。不同模式与分辨率的对应关系如下：</p>
@@ -426,7 +426,7 @@
 
   <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/5_advanced_guide/configuration/depth_work_mode_switch.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.3. 深度工作模式切换 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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>
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-      <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" />
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@@ -132,7 +132,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,8 +402,8 @@
            <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">5.3.3. </span>深度工作模式切换<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>Orbbec SDK ROS 2 支持深度工作模式切换。Gemini 2、Gemini 2 L 和 Femto 以及 Femto Bolt 相机支持深度工作模式切换。</p>
+<h1><span class="section-number">5.3.3. </span>深度工作模式切换<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
+<p>Orbbec SDK ROS 2 支持深度工作模式切换。Gemini 2 和 Gemini 2 L 相机支持深度工作模式切换。</p>
 <ul class="simple">
 <li><p>在启动相机之前，可以为相应的 xxx.launch.py 文件的支持配置深度工作模式（depth_work_mode）。</p></li>
 <li><p>Gemini 2、Gemini 2 L 和 Gemini 2 XL 相机支持深度工作模式切换。</p></li>
@@ -444,7 +444,7 @@
 
   <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/5_advanced_guide/configuration/disparity_search_offset.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.4. 视差搜索偏移 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,17 +402,17 @@
            <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">5.3.4. </span>视差搜索偏移<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.3.4. </span>视差搜索偏移<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <blockquote>
 <div><p>本节介绍如何在 Gemini330 系列相机中使用 disparity_search_offset 功能（相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>）。Disparity_search_offset 仅对深度流的 1280×720、1280×800 和 640×400 分辨率有效。</p>
 </div></blockquote>
 <section id="id2">
-<h2><span class="section-number">5.3.4.1. </span>功能介绍<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.4.1. </span>功能介绍<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <p>视差搜索范围的定义：对于左图像中的任何像素 <em>(u_l, v)</em>，默认情况下，右图像中对应的视差搜索范围为 <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>，其中视差搜索长度为 256，最大整数视差为 255。如果将搜索的起点调整为 <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>，则偏移量定义为视差偏移。因此，我们的视差搜索范围配置包括视差搜索长度和搜索位置偏移（也可称为视差偏移）。</p>
 <p><img alt="深度点云可视化" src="../../../../_images/search_offset0.png" /></p>
 </section>
 <section id="id3">
-<h2><span class="section-number">5.3.4.2. </span>参数介绍<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.4.2. </span>参数介绍<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
 <p>disparity_search_offset 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code>：视差搜索长度，只能设置为 64、128 和 256。</p></li>
@@ -488,7 +488,7 @@
 </tbody>
 </table></section>
 <section id="id4">
-<h2><span class="section-number">5.3.4.3. </span>运行启动文件<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.4.3. </span>运行启动文件<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
 <p>设置 disparity_search_offset 参数，重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</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
 </pre></div>
@@ -508,7 +508,7 @@
 
   <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/5_advanced_guide/configuration/interleave_ae_mode.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.5. 在 Gemini330 系列相机中使用 interleave_ae &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,12 +402,12 @@
            <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="gemini330-interleave-ae">
-<h1><span class="section-number">5.3.5. </span>在 Gemini330 系列相机中使用 interleave_ae<a class="headerlink" href="#gemini330-interleave-ae" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.3.5. </span>在 Gemini330 系列相机中使用 interleave_ae<a class="headerlink" href="#gemini330-interleave-ae" title="链接到此标题。"></a></h1>
 <blockquote>
 <div><p>本节介绍如何在 Gemini 330 系列相机中使用 interleave_ae（相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>）</p>
 </div></blockquote>
 <section id="id1">
-<h2><span class="section-number">5.3.5.1. </span>参数介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.5.1. </span>参数介绍<a class="headerlink" href="#id1" title="链接到此标题。"></a></h2>
 <p>interleave_ae 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code>：设置激光或 hdr 交错。</p></li>
@@ -445,7 +445,7 @@
 </ul>
 </section>
 <section id="id2">
-<h2><span class="section-number">5.3.5.2. </span>运行启动文件<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.5.2. </span>运行启动文件<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <p>设置 interleave_ae 参数，重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</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
 </pre></div>
@@ -455,7 +455,7 @@
 <p><img alt="深度点云可视化" src="../../../../_images/interleave_ae1.jpeg" /></p>
 </section>
 <section id="multi-camera-synced-interleave-ae">
-<h2><span class="section-number">5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="链接到此标题。"></a></h2>
 <p>请参考 <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> 和 <a class="reference external" href="#%E5%8F%82%E6%95%B0%E4%BB%8B%E7%BB%8D">参数介绍</a></p>
 </section>
 </section>
@@ -472,7 +472,7 @@
 
   <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/5_advanced_guide/configuration/net_camera.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.7. 网络相机 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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">5.3.7. </span>网络相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.3.7. </span>网络相机<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <blockquote>
 <div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用网络相机。目前仅支持 Femto_Mega、Gemini 335Le 和 Gemini 435Le 设备，其他网络设备将在不久的将来得到支持。</p>
 </div></blockquote>
 <p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
 <section id="femto-mega-gemini-435le-gemini-335le">
-<h2><span class="section-number">5.3.7.1. </span>Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.7.1. </span>Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="链接到此标题。"></a></h2>
 <p><strong>参数介绍</strong></p>
 <p>网络设备设置：<code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 true，将自动枚举网络设备。</p>
 <p>如果您不想自动枚举网络设备，可以将 <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 false，将 <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 设置为设备的 IP 地址，并将 <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> 设置为默认值 8090。</p>
@@ -442,7 +442,7 @@
 </div>
 </section>
 <section id="set-device-ip">
-<h2><span class="section-number">5.3.7.2. </span>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.7.2. </span>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="链接到此标题。"></a></h2>
 <p><strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置，包括在 DHCP 和静态 IP 之间切换，以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。</p>
 <blockquote>
 <div><p><strong>注意：<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>，如果设备断电或重启，<strong>不会重置</strong>。</p>
@@ -466,7 +466,7 @@
 </ul>
 </section>
 <section id="ip">
-<h2><span class="section-number">5.3.7.3. </span>强制 IP 功能<a class="headerlink" href="#ip" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.3.7.3. </span>强制 IP 功能<a class="headerlink" href="#ip" title="链接到此标题。"></a></h2>
 <p><strong>强制 IP</strong> 功能允许您为网络相机分配<strong>静态 IP 地址</strong>，覆盖 DHCP 设置。当连接多个网络相机时，这非常有用，您需要每个设备具有固定的 IP 以实现可靠的通信。</p>
 <blockquote>
 <div><p><strong>注意：<strong>如果设备断电或重启，强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。</p>
@@ -508,7 +508,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
 
   <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/5_advanced_guide/configuration/predefined_presets.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.6. 预定义预设 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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">5.3.6. </span>预定义预设<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.3.6. </span>预定义预设<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <table border="1" class="docutils">
 <thead>
 <tr>
@@ -439,7 +439,7 @@
 </tr>
 <tr>
 <td>Custom</td>
-<td>- 用户自定义预设<br>- 从上述预设派生，具有自定义修改，例如后处理管道的新配置、深度 AE 功能的修改平均强度设定点等</td>
+<td>- 用户自定义预设<br>- 从上述预设派生，具有自定义修改<br>- 例如后处理管道的新配置等</td>
 <td>- 通过使用自定义配置可获得比预定义预设更好的深度性能<br>- 适用于已建立的自定义配置</td>
 </tr>
 </tbody>
@@ -458,7 +458,7 @@
 
   <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/5_advanced_guide/multi_camera/gmsl_camera.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.2.4. GMSL 相机 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,20 +402,20 @@
            <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="gmsl">
-<h1><span class="section-number">5.2.4. </span>GMSL 相机<a class="headerlink" href="#gmsl" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.2.4. </span>GMSL 相机<a class="headerlink" href="#gmsl" title="链接到此标题。"></a></h1>
 <blockquote>
 <div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用 GMSL 相机。目前仅支持 Gemini 335Lg 和 Gemini 345Lg 设备，其他 GMSL 设备将在不久的将来得到支持。</p>
 </div></blockquote>
 <p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
 <section id="id1">
-<h2><span class="section-number">5.2.4.1. </span>单个 GMSL 相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.4.1. </span>单个 GMSL 相机<a class="headerlink" href="#id1" title="链接到此标题。"></a></h2>
 <p>GMSL 相机在 OrbbecSDK_ROS2 中的使用与通过 USB 的 Gemini 330 系列相机相同。</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_gmsl.launch.py
 </pre></div>
 </div>
 </section>
 <section id="id2">
-<h2><span class="section-number">5.2.4.2. </span>多个 GMSL 相机<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.4.2. </span>多个 GMSL 相机<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <p>要获取 GMSL 相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>，插入相机并在终端中运行以下命令：</p>
 <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_devices_node
 </pre></div>
@@ -430,7 +430,7 @@
 </div></blockquote>
 </section>
 <section id="id3">
-<h2><span class="section-number">5.2.4.3. </span>多个 GMSL 相机同步<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.4.3. </span>多个 GMSL 相机同步<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
 <p>首先，请查看如何使用 <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>。</p>
 <p>此外，GMSL 多相机同步不需要 Multi-Camera Sync Hub Pro，因此无需设置 <code class="docutils literal notranslate"><span class="pre">primary</span></code> 模式。每个 GMSL 相机都是 <code class="docutils literal notranslate"><span class="pre">secondary</span></code>。</p>
 <p><strong>额外的参数设置</strong></p>
@@ -448,7 +448,7 @@
 </div></blockquote>
 </section>
 <section id="id4">
-<h2><span class="section-number">5.2.4.4. </span>GMSL 相机的使用限制<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.4.4. </span>GMSL 相机的使用限制<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
 <p>GMSL 相机与各种反序列化器芯片（如 MAX9296 和 MAX92716）接口。Orbbec GMSL 相机支持多个流，包括深度、彩色、IR 和 IMU 数据，但存在某些使用限制：</p>
 <ul class="simple">
 <li><p>GMSL 仅支持 V4L2 和 YUYV 格式；不支持 MJPG 格式。RGB 输出源自 YUYV 格式转换。</p></li>
@@ -478,7 +478,7 @@
 
   <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/5_advanced_guide/multi_camera/multi_camera.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.2.1. 多相机 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/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">5.2.1. </span>多相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.2.1. </span>多相机<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <ul class="simple">
 <li><p>要获取相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>，插入相机并在终端中运行以下命令：</p></li>
 </ul>
@@ -467,7 +467,7 @@
 </pre></div>
 </div>
 <section id="id2">
-<h2><span class="section-number">5.2.1.1. </span>多相机无数据流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.1.1. </span>多相机无数据流<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <p><strong>电源供应不足</strong>：</p>
 <ul class="simple">
 <li><p>确保每个相机连接到单独的集线器。</p></li>
@@ -490,7 +490,7 @@
 </ul>
 </section>
 <section id="id3">
-<h2><span class="section-number">5.2.1.2. </span>多相机图像话题帧率过低<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.1.2. </span>多相机图像话题帧率过低<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
 <p>请参考 <a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">Fast DDS 配置</span></a> 文件。</p>
 </section>
 </section>
@@ -507,7 +507,7 @@
 
   <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/5_advanced_guide/multi_camera/multi_camera_synced.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.2.2. 多相机同步说明 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,12 +402,12 @@
            <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">5.2.2. </span>多相机同步说明<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.2.2. </span>多相机同步说明<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <blockquote>
 <div><p>本文档的目的是说明如何在 OrbbecSDK_ROS2 中使用多相机同步</p>
 </div></blockquote>
 <section id="id2">
-<h2><span class="section-number">5.2.2.1. </span>设置说明<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.2.1. </span>设置说明<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <ul class="simple">
 <li><p>请阅读多相机同步设置指南：<a class="reference external" href="https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/">多相机同步设置</a></p></li>
 <li><p>确保相机正确连接到多相机同步器。</p></li>
@@ -415,13 +415,13 @@
 <p><img alt="深度点云可视化" src="../../../../_images/multi_camera_synced1.png" /></p>
 </section>
 <section id="orbbecsdk-ros2">
-<h2><span class="section-number">5.2.2.2. </span>使用 OrbbecSDK_ROS2 检查相机端口<a class="headerlink" href="#orbbecsdk-ros2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.2.2. </span>使用 OrbbecSDK_ROS2 检查相机端口<a class="headerlink" href="#orbbecsdk-ros2" title="链接到此标题。"></a></h2>
 <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_devices_node
 </pre></div>
 </div>
 </section>
 <section id="id3">
-<h2><span class="section-number">5.2.2.3. </span>OrbbecSDK_ROS2 多相机同步配置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.2.3. </span>OrbbecSDK_ROS2 多相机同步配置<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
 <p>打开 multi_camera_synced.launch.py，并按照下面所示配置相机设置：</p>
 <p><img alt="深度点云可视化" src="../../../../_images/multi_camera_synced2.png" /></p>
 <ol class="simple">
@@ -476,7 +476,7 @@
 </ul>
 </section>
 <section id="id4">
-<h2><span class="section-number">5.2.2.4. </span>运行以下命令启动多相机同步<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.2.4. </span>运行以下命令启动多相机同步<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
 <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>multi_camera_synced.launch.py
 </pre></div>
 </div>
@@ -495,7 +495,7 @@
 
   <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/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.2.3. 多相机同步验证节点 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,15 +402,15 @@
            <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">5.2.3. </span>多相机同步验证节点<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.2.3. </span>多相机同步验证节点<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <p>文件路径：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp">image_sync_example_node.cpp</a></p>
 <p>此示例节点用于 <strong>4 台 Orbbec 相机</strong> 的同步采集与时间戳验证。
 它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。</p>
 <hr class="docutils" />
 <section id="id2">
-<h2><span class="section-number">5.2.3.1. </span>使用教程<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.3.1. </span>使用教程<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <section id="multi-camera-synced-launch-py">
-<h3><span class="section-number">5.2.3.1.1. </span><strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong><a class="headerlink" href="#multi-camera-synced-launch-py" title="Link to this heading"></a></h3>
+<h3><span class="section-number">5.2.3.1.1. </span><strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong><a class="headerlink" href="#multi-camera-synced-launch-py" title="链接到此标题。"></a></h3>
 <ul class="simple">
 <li><p>增加 <code class="docutils literal notranslate"><span class="pre">launch_include</span></code> 以适配 4 台相机</p></li>
 <li><p>根据设备型号选择对应的 launch 文件，如 330 系列选择 gemini_330_series.launch.py</p></li>
@@ -424,7 +424,7 @@
 </section>
 <hr class="docutils" />
 <section id="id3">
-<h3><span class="section-number">5.2.3.1.2. </span><strong>参数文件修改</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
+<h3><span class="section-number">5.2.3.1.2. </span><strong>参数文件修改</strong><a class="headerlink" href="#id3" title="链接到此标题。"></a></h3>
 <p>修改 <code class="docutils literal notranslate"><span class="pre">config</span></code> 目录下的以下两个配置文件：</p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">camera_params.yaml</span></code></p></li>
@@ -438,7 +438,7 @@
 </section>
 <hr class="docutils" />
 <section id="id4">
-<h3><span class="section-number">5.2.3.1.3. </span><strong>启动与验证</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<h3><span class="section-number">5.2.3.1.3. </span><strong>启动与验证</strong><a class="headerlink" href="#id4" title="链接到此标题。"></a></h3>
 <ul class="simple">
 <li><p>启动多机同步 launch： <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code></p></li>
 <li><p>打开新终端运行同步验证节点： <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">image_sync_example_node</span></code>
@@ -447,7 +447,7 @@
 </section>
 <hr class="docutils" />
 <section id="launch">
-<h3><span class="section-number">5.2.3.1.4. </span><strong>参考 launch 文件</strong><a class="headerlink" href="#launch" title="Link to this heading"></a></h3>
+<h3><span class="section-number">5.2.3.1.4. </span><strong>参考 launch 文件</strong><a class="headerlink" href="#launch" title="链接到此标题。"></a></h3>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
 <span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
 <span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
@@ -543,15 +543,15 @@
 </section>
 <hr class="docutils" />
 <section id="id5">
-<h2><span class="section-number">5.2.3.2. </span>必要系统配置<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.2.3.2. </span>必要系统配置<a class="headerlink" href="#id5" title="链接到此标题。"></a></h2>
 <section id="usb">
-<h3><span class="section-number">5.2.3.2.1. </span><strong>提升 USB 缓冲区容量</strong><a class="headerlink" href="#usb" title="Link to this heading"></a></h3>
+<h3><span class="section-number">5.2.3.2.1. </span><strong>提升 USB 缓冲区容量</strong><a class="headerlink" href="#usb" title="链接到此标题。"></a></h3>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">echo</span> <span class="mi">512</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
 </pre></div>
 </div>
 </section>
 <section id="fast-dds">
-<h3><span class="section-number">5.2.3.2.2. </span><strong>配置 Fast DDS</strong><a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h3>
+<h3><span class="section-number">5.2.3.2.2. </span><strong>配置 Fast DDS</strong><a class="headerlink" href="#fast-dds" title="链接到此标题。"></a></h3>
 <p>优化 ROS2 节点间通信延迟，可以有效减少图像传输延迟，<a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">配置过程见此章节</span></a>。</p>
 </section>
 </section>
@@ -569,7 +569,7 @@
 
   <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/5_advanced_guide/performance/efficient_intra_process_communication.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.1.2. 高效的进程内通信： &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,15 +402,15 @@
            <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">5.1.2. </span>高效的进程内通信：<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.1.2. </span>高效的进程内通信：<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
 <section id="id2">
-<h2><span class="section-number">5.1.2.1. </span>简介<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.2.1. </span>简介<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <p>如果我们的ROS2封装器节点与订阅者节点加载在同一进程中，它支持零拷贝通信。这可以减少图像/点云话题的拷贝时间，特别是在大帧分辨率和高FPS的情况下。</p>
 <p>您需要启动一个组件容器，并将我们的节点作为组件与其他组件节点一起启动。有关&quot;在单个进程中组合多个节点&quot;的更多详细信息，请参见 <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">此处</a>。</p>
 <p>有关高效进程内通信的更多详细信息，请参见 <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">此处</a>。</p>
 </section>
 <section id="id3">
-<h2><span class="section-number">5.1.2.2. </span>示例<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.2.2. </span>示例<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
 <p><strong>手动将多个组件加载到同一进程中</strong></p>
 <ul>
 <li><p>启动组件：</p>
@@ -449,7 +449,7 @@
 
   <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/5_advanced_guide/performance/fastdds_tuning.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,10 +402,10 @@
            <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="orbbecros2fast-dds">
-<h1><span class="section-number">5.1.3. </span>针对Orbbec相机与ROS2的Fast DDS优化<a class="headerlink" href="#orbbecros2fast-dds" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.1.3. </span>针对Orbbec相机与ROS2的Fast DDS优化<a class="headerlink" href="#orbbecros2fast-dds" title="链接到此标题。"></a></h1>
 <p>使用默认配置时，Fast DDS表现出次优的传输效率，导致在ROS2中使用Orbbec相机时图像传输延迟显著。本文档提供了优化Fast DDS以提高图像传输效率的指导。</p>
 <section id="id1">
-<h2><span class="section-number">5.1.3.1. </span>调整系统参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.3.1. </span>调整系统参数<a class="headerlink" href="#id1" title="链接到此标题。"></a></h2>
 <p><strong>IP分片时间</strong></p>
 <ul>
 <li><p><strong>路径</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_time</span></code>（默认值：30秒）</p></li>
@@ -456,7 +456,7 @@ net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
 <p>有关详细指导，请参考 <a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">ROS 2 DDS调优文档</a>。</p>
 </section>
 <section id="fast-dds">
-<h2><span class="section-number">5.1.3.2. </span>Fast DDS配置<a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.3.2. </span>Fast DDS配置<a class="headerlink" href="#fast-dds" title="链接到此标题。"></a></h2>
 <p>以下是针对Orbbec相机与ROS2使用而优化的Fast DDS配置文件示例。此配置通过调整缓冲区大小和传输设置来增强整体数据传输。</p>
 <p><strong>配置文件:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
 <p>将此文件放在 <code class="docutils literal notranslate"><span class="pre">$HOME</span></code> 目录中。</p>
@@ -546,7 +546,7 @@ net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
 
   <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/5_advanced_guide/performance/lower_cpu_usage.html

@@ -8,7 +8,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.1.1. 使用Orbbec ROS包降低CPU使用率 &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" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
       <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
 
   
@@ -16,9 +16,9 @@
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       <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
       <script src="../../../../_static/documentation_options.js?v=7d86a446"></script>
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+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
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@@ -132,7 +132,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/services.html">4.2. 可用服务</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,11 +402,11 @@
            <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="orbbec-roscpu">
-<h1><span class="section-number">5.1.1. </span>使用Orbbec ROS包降低CPU使用率<a class="headerlink" href="#orbbec-roscpu" title="Link to this heading"></a></h1>
+<h1><span class="section-number">5.1.1. </span>使用Orbbec ROS包降低CPU使用率<a class="headerlink" href="#orbbec-roscpu" title="链接到此标题。"></a></h1>
 <p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">示例</a> 中找到使用示例代码。</p>
 <p>本文档概述了在使用 <strong>Gemini 330系列相机</strong> 的 <strong>OrbbecSDK_ROS2 v2</strong> 环境中最小化CPU使用率的策略。固件版本必须 <strong>不低于1.4.10</strong>，且 <code class="docutils literal notranslate"><span class="pre">device</span></code> 应设置为 <strong>Default</strong>。</p>
 <section id="cpu">
-<h2><span class="section-number">5.1.1.1. </span>降低CPU使用率的推荐设置<a class="headerlink" href="#cpu" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.1.1. </span>降低CPU使用率的推荐设置<a class="headerlink" href="#cpu" title="链接到此标题。"></a></h2>
 <p>要在OrbbecSDK_ROS2中实现最低的CPU使用率，建议配置以下参数。</p>
 <table border="1" class="docutils">
 <thead>
@@ -435,14 +435,14 @@
 </tbody>
 </table></section>
 <section id="id1">
-<h2><span class="section-number">5.1.1.2. </span>用于测试的启动文件<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.1.2. </span>用于测试的启动文件<a class="headerlink" href="#id1" title="链接到此标题。"></a></h2>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_lower_cpu_usage.launch.py</span></code></p></li>
 <li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_lower_cpu_usage.launch.py</span></code></p></li>
 </ul>
 </section>
 <section id="id2">
-<h2><span class="section-number">5.1.1.3. </span>测试环境<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.1.3. </span>测试环境<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
 <p><strong>硬件配置</strong></p>
 <ul class="simple">
 <li><p><strong>CPU</strong>: Intel i7-8700 &#64; 3.20GHz</p></li>
@@ -463,7 +463,7 @@
 </ul>
 </section>
 <section id="id3">
-<h2><span class="section-number">5.1.1.4. </span>测试设置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.1.4. </span>测试设置<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
 <p><strong>数据流设置：</strong></p>
 <ul class="simple">
 <li><p>深度/左IR/右IR: 848×480 &#64; 30fps</p></li>
@@ -472,7 +472,7 @@
 <p>注意：以下CPU使用率数据重点关注 <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code>、<code class="docutils literal notranslate"><span class="pre">color_format</span></code> 和各种滤波器组合。</p>
 </section>
 <section id="id4">
-<h2><span class="section-number">5.1.1.5. </span>测试结果<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.1.5. </span>测试结果<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
 <p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> 对比（RGB格式）</strong></p>
 <table border="1" class="docutils">
 <thead>
@@ -566,7 +566,7 @@
 </table><p>根据测试结果，仅使用 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> 相比无滤波器基准，对 <code class="docutils literal notranslate"><span class="pre">libuvc</span></code>（+3.5%）和 <code class="docutils literal notranslate"><span class="pre">v4l2</span></code>（-3.4%）的CPU使用率变化可以忽略不计，因为此滤波器在相机硬件内部运行。相比之下，其他滤波器在主机系统上执行。将 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 添加到硬件滤波器会导致CPU使用率适度增加，而应用基于软件的 <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code>——无论是单独使用还是与 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 结合——都会显著增加CPU负载。为保持较低的CPU使用率，建议避免使用基于软件的滤波器，仅依赖 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>。</p>
 </section>
 <section id="id5">
-<h2><span class="section-number">5.1.1.6. </span>进一步优化<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
+<h2><span class="section-number">5.1.1.6. </span>进一步优化<a class="headerlink" href="#id5" title="链接到此标题。"></a></h2>
 <table border="1" class="docutils">
 <thead>
 <tr>
@@ -607,7 +607,7 @@
 
   <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>