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zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
+10 -10
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@@ -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" />
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@@ -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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<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="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
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@@ -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" />
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@@ -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>
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<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="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
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@@ -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" />
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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>
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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="../../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
+10 -10
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@@ -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
+10 -10
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@@ -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" />
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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>
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<script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
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<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
+10 -10
View File
@@ -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>
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<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 -8
View File
@@ -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" />
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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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<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>