diff --git a/docs/source/1_overview/introduction.md b/docs/source/1_overview/introduction.md index 4d934769..80b3367f 100644 --- a/docs/source/1_overview/introduction.md +++ b/docs/source/1_overview/introduction.md @@ -35,5 +35,5 @@ for different models within the same series. Differences in USB standards, such ## Support Platforms -- Linux x64: tested on Ubuntu 20.04 +- Linux x64: tested on Ubuntu 22.04 - Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX diff --git a/docs/source/5_advanced_guide/benchmark.md b/docs/source/5_advanced_guide/benchmark.md index 419c69c6..fb3090d4 100644 --- a/docs/source/5_advanced_guide/benchmark.md +++ b/docs/source/5_advanced_guide/benchmark.md @@ -4,7 +4,7 @@ ## Usage Instructions -### Tool Configuration ([start_benchmark_params.json](../../config/tools/startbenchmark/start_benchmark_params.json)) +### Tool Configuration ([start_benchmark_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json)) ```json { diff --git a/docs/source/5_advanced_guide/disparity_search_offset.md b/docs/source/5_advanced_guide/disparity_search_offset.md index 3790c078..382bbe03 100644 --- a/docs/source/5_advanced_guide/disparity_search_offset.md +++ b/docs/source/5_advanced_guide/disparity_search_offset.md @@ -10,7 +10,7 @@ The definition of disparity search range: For any pixel *(u_l, v)* in the left i ## Parameter Introduction -The disparity_search_offset related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py) +The disparity_search_offset related parameters are set in [gemini_330_series.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py) * `disparity_range_mode` : Disparity search length,can only be set to 64, 128 and 256. diff --git a/docs/source/5_advanced_guide/gmsl_camera.md b/docs/source/5_advanced_guide/gmsl_camera.md index b979d560..6a80a059 100644 --- a/docs/source/5_advanced_guide/gmsl_camera.md +++ b/docs/source/5_advanced_guide/gmsl_camera.md @@ -20,17 +20,17 @@ ros2 run orbbec_camera list_devices_node For example, the obtained gmsl camera `usb_port`: `gmsl2-1` -Go to the [multi_gmsl_camera.launch.py](./multi_gmsl_camera.launch.py) file and change the `usb_port`. +Go to the [multi_gmsl_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py) file and change the `usb_port`. ```bash ros2 launch orbbec_camera multi_gmsl_camera.launch.py ``` -> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) to modify them. +> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) to modify them. ## Multi GMSL camera synced -First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD). +First, please see how to use [multi_camera_synced](./multi_camera_synced.md). In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the `primary` mode. Each GMSL camera is `secondary`. @@ -41,10 +41,10 @@ In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro ### Run the launch -Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi_gmsl_camera_synced.launch.py) +Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py) ```bash ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py ``` -> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) and [camera_params.yaml](../../config/camera_params.yaml) to modify them. +> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) and [camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml) to modify them. diff --git a/docs/source/5_advanced_guide/interleave_ae_mode.md b/docs/source/5_advanced_guide/interleave_ae_mode.md index 46a8cc04..99baedcf 100644 --- a/docs/source/5_advanced_guide/interleave_ae_mode.md +++ b/docs/source/5_advanced_guide/interleave_ae_mode.md @@ -4,7 +4,7 @@ ## Parameter Introduction -The interleave_ae related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py) +The interleave_ae related parameters are set in [gemini_330_series.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py) * `interleave_ae_mode` : Set laser or hdr interleave. @@ -78,4 +78,4 @@ ros2 launch orbbec_camera gemini_330_series.launch.py ## Multi_camera_synced + Interleave_ae -Please refer to [multi_camera_synced](../multi_camera_synced/README.MD) and [Parameter Introduction](#parameter-introduction) +Please refer to [multi_camera_synced](./multi_camera_synced.md) and [Parameter Introduction](#parameter-introduction) diff --git a/docs/source/5_advanced_guide/multi_camera.md b/docs/source/5_advanced_guide/multi_camera.md index a6d514fd..82b05b37 100644 --- a/docs/source/5_advanced_guide/multi_camera.md +++ b/docs/source/5_advanced_guide/multi_camera.md @@ -88,4 +88,4 @@ ros2 launch orbbec_camera multi_camera.launch.py ## Image topic frame rate too low from Multiple Cameras -Refer to the [Fast DDS Configuration](./docs/fastdds_tuning.md) file. +Refer to the [Fast DDS Configuration](./fastdds_tuning.md) file. diff --git a/docs/source/5_advanced_guide/multi_camera_synced_verification_tool.md b/docs/source/5_advanced_guide/multi_camera_synced_verification_tool.md index 7523d9e8..08492f79 100644 --- a/docs/source/5_advanced_guide/multi_camera_synced_verification_tool.md +++ b/docs/source/5_advanced_guide/multi_camera_synced_verification_tool.md @@ -2,7 +2,7 @@ > This article will introduce how to verify the synchronization accuracy of multi-camera synchronization. > -> First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD). +> First, please see how to use [multi_camera_synced](./multi_camera_synced.md). ## Directory Structure @@ -90,7 +90,7 @@ save_rgbir is a tool for saving images. The configuration file of this tool is i ### DevicesInfo.txt -Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber` parameters need to be changed. Other parameters do not need to be changed.Refer to the example of [20250218102900](./multicamera_sync/output/20250218102900). +Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber` parameters need to be changed. Other parameters do not need to be changed.Refer to the example of [20250218102900](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900). * `primarySerialNumber` : The SN serial number of the primary camera * `index` : Camera index @@ -120,7 +120,7 @@ When the terminal displays "over", the image is saved.A new multicamera_sync fol ### Camera pictures naming format -Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](./multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example +Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example * `color` : This image is a snapshot of the color stream. * `SNCP1E5420006D` : The camera's SN serial number is CP1E5420006D. @@ -133,7 +133,7 @@ Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg] ### Analyzing camera image data -You need to copy the modified [Python folder](./multicamera_sync/Python) to the new multi_camera_synced subdirectory, and copy the modified [DevicesInfo.txt ](./multicamera_sync/output/20250218102900/DevicesInfo.txt)and [StreamProfileInfo.txt](./multicamera_sync/output/20250218102900/StreamProfileInfo.txt) to the same level directory as the TotalModeFrames folder. +You need to copy the modified [Python folder](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python) to the new multi_camera_synced subdirectory, and copy the modified [DevicesInfo.txt ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt)and [StreamProfileInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/StreamProfileInfo.txt) to the same level directory as the TotalModeFrames folder. * Finally everything is ready, run the python script @@ -148,12 +148,12 @@ After the operation is successful, you can view the synchronization effect in th ### Analysis tools -* [multi_save_rgbir_params.json](../../config/tools/multisavergbir/multi_save_rgbir_params.json) -* [DevicesInfo.txt ](./multicamera_sync/output/20250218102900/DevicesInfo.txt) -* [Config.ini](./multicamera_sync/Python/Config.ini) +* [multi_save_rgbir_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json) +* [DevicesInfo.txt ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/DevicesInfo.txt) +* [Config.ini](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini) ### Camera Configuration -[camera_params.yaml](../../config/camera_params.yaml)(Camera startup parameter settings) +[camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml)(Camera startup parameter settings) -[multi_camera_synced_verify.launch.py](./multi_camera_synced_verify.launch.py) +[multi_camera_synced_verify.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multi_camera_synced_verify.launch.py) diff --git a/docs/source/5_advanced_guide/net_camera.md b/docs/source/5_advanced_guide/net_camera.md index 476581f9..9539b8d7 100644 --- a/docs/source/5_advanced_guide/net_camera.md +++ b/docs/source/5_advanced_guide/net_camera.md @@ -16,9 +16,9 @@ If you do not want to automatically enumerate network devices,you can set `enume ### Single Net camera -> If you need to run Gemini 435Le, you only need to replace [femto_mega.launch.py ](../../launch/femto_mega.launch.py)in the run command with [gemini435_le.launch.py](../../launch/gemini435_le.launch.py) +> If you need to run Gemini 435Le, you only need to replace [femto_mega.launch.py ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py)in the run command with [gemini435_le.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py) -For [femto_mega.launch.py](../../launch/femto_mega.launch.py) as an example: +For [femto_mega.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py) as an example: #### automatically enumerate network devices: @@ -44,7 +44,7 @@ Network device settings: `enumerate_net_device` must be set to true, set `net_de ### Single Net camera -For [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py) as an example: +For [gemini_330_series.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py) as an example: - **automatically enumerate network devices:** @@ -62,7 +62,7 @@ ros2 launch orbbec_camera gemini_330_series.launch.py enumerate_net_device:=true ## Multi Net camera -For [multi_net_camera.launch.py](./multi_net_camera.launch.py) as an example: +For [multi_net_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py) as an example: ```bash ros2 launch orbbec_camera multi_net_camera.launch.py diff --git a/docs/source/5_advanced_guide/point_cloud.md b/docs/source/5_advanced_guide/point_cloud.md index 0197ba9e..99422b55 100644 --- a/docs/source/5_advanced_guide/point_cloud.md +++ b/docs/source/5_advanced_guide/point_cloud.md @@ -1,6 +1,6 @@ ## Enabling and Visualizing Point Cloud in ROS 2 -This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2, similarly to the initial camera node setup discussed in the [Starting Camera Node](../start_camera_node/start_camera_node.MD) document. +This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2. ### Enabling Depth Point Cloud