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OrbbecSDK V2 ROS2 封装
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<li class="toctree-l1 current"><a class="reference internal" href="overview.html">1. 概述</a><ul class="current">
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<li class="toctree-l2 current"><a class="current reference internal" href="#">1.1. 引言</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#id2">1.1.1. 支持的硬件产品</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#orbbec">1.1.2. Orbbec 相机规格书</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#id3">1.1.3. 支持的平台</a></li>
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<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
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<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
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<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
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<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本(必需)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
|
|
</ul>
|
|
</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</a></li>
|
|
</ul>
|
|
</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
|
|
</ul>
|
|
</li>
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|
</ul>
|
|
</li>
|
|
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
|
|
</ul>
|
|
</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
|
|
</ul>
|
|
</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
|
</ul>
|
|
</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
|
|
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
|
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</ul>
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
|
|
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件?</a></li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
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</nav>
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<div class="wy-nav-content">
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="overview.html"><span class="section-number">1. </span>概述</a></li>
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<li class="breadcrumb-item active"><span class="section-number">1.1. </span>引言</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/source/1_overview/introduction.md.txt" rel="nofollow"> 查看页面源码</a>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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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="id1">
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<h1><span class="section-number">1.1. </span>引言<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<p>OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它支持 ROS2 Foxy、Humble 和 Jazzy 发行版。</p>
|
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<p>默认推荐使用 <strong>v2-main</strong> 分支。对于 v2-main 尚不支持的旧 OpenNI 设备,请使用 <strong>main</strong> 分支。仅由 main 分支支持的设备型号列在下表中。</p>
|
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<p>如果您是中国用户,推荐使用 <a class="reference external" href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">gitee 仓库</a>。</p>
|
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<p>下面是 main 分支 (v1.x) 与 v2-main 分支 (v2.x) 的设备支持列表:</p>
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<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
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<thead>
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<tr style="background-color: #1f4e78; color: white; text-align: center;">
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<th>产品系列</th>
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<th>产品</th>
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<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">main 分支</a></th>
|
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<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">v2-main 分支</a></th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
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<td>Gemini 435Le</td>
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<td>不支持</td>
|
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<td>建议用于新设计</td>
|
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</tr>
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<tr>
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<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
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<td>Gemini 335</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
|
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</tr>
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<tr>
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<td>Gemini 336</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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</tr>
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<tr>
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<td>Gemini 335L</td>
|
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<td>完整维护</td>
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<td>建议用于新设计</td>
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</tr>
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<tr>
|
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<td>Gemini 336L</td>
|
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<td>完整维护</td>
|
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<td>建议用于新设计</td>
|
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</tr>
|
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<tr>
|
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<td>Gemini 335Lg</td>
|
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<td>不支持</td>
|
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<td>建议用于新设计</td>
|
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</tr>
|
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<tr>
|
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<td>Gemini 335Le</td>
|
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<td>不支持</td>
|
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<td>建议用于新设计</td>
|
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</tr>
|
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<tr>
|
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<td>Gemini 330</td>
|
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<td>完整维护</td>
|
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<td>建议用于新设计</td>
|
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</tr>
|
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<tr>
|
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<td>Gemini 330L</td>
|
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<td>完整维护</td>
|
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<td>建议用于新设计</td>
|
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</tr>
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<tr>
|
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<td rowspan="3" style="text-align: center; font-weight: bold;">Gemini 2</td>
|
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<td>Gemini 2</td>
|
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<td>完整维护</td>
|
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<td>建议用于新设计</td>
|
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</tr>
|
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<tr>
|
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<td>Gemini 2 L</td>
|
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<td>完整维护</td>
|
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<td>建议用于新设计</td>
|
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</tr>
|
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<tr>
|
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<td>Gemini 2 XL</td>
|
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<td>建议用于新设计</td>
|
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<td>即将支持</td>
|
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</tr>
|
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<tr>
|
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<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
|
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<td>Femto Bolt</td>
|
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<td>完整维护</td>
|
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<td>建议用于新设计</td>
|
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</tr>
|
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<tr>
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<td>Femto Mega</td>
|
|
<td>完整维护</td>
|
|
<td>建议用于新设计</td>
|
|
</tr>
|
|
<tr>
|
|
<td>Femto Mega I</td>
|
|
<td>完整维护</td>
|
|
<td>即将支持</td>
|
|
</tr>
|
|
<tr>
|
|
<td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
|
|
<td>Astra 2</td>
|
|
<td>完整维护</td>
|
|
<td>建议用于新设计</td>
|
|
</tr>
|
|
<tr>
|
|
<td>Astra+</td>
|
|
<td>限制维护</td>
|
|
<td>不支持</td>
|
|
</tr>
|
|
<tr>
|
|
<td>Astra Pro Plus</td>
|
|
<td>限制维护</td>
|
|
<td>不支持</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: center; font-weight: bold;">Astra Mini</td>
|
|
<td>Astra Mini Pro</td>
|
|
<td>完整维护</td>
|
|
<td>完整维护</td>
|
|
</tr>
|
|
</tbody>
|
|
</table><p><strong>注意</strong>: 如果未找到您的设备,请联系我们的 FAE 或销售代表获取帮助。</p>
|
|
<p><strong>术语定义</strong>:</p>
|
|
<ol class="simple">
|
|
<li><p>建议用于新设计:我们将提供完整支持,包括新特性、缺陷修复与性能优化;</p></li>
|
|
<li><p>完整维护:我们将提供缺陷修复支持;</p></li>
|
|
<li><p>限制维护:我们仅提供关键缺陷修复支持;</p></li>
|
|
<li><p>不支持:当前版本不支持该设备;</p></li>
|
|
<li><p>即将支持:近期将添加支持。</p></li>
|
|
</ol>
|
|
<section id="id2">
|
|
<h2><span class="section-number">1.1.1. </span>支持的硬件产品<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
|
<p>以下设备由 OrbbecSDK ROS2 封装 v2-main 分支支持。后续将增加更多设备支持。如果您在下表中未找到设备,请尝试 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> 分支。</p>
|
|
<p>为获得最佳性能,强烈建议升级到最新固件版本,以确保获得最新的改进与缺陷修复。</p>
|
|
<p>关于如何获取与升级最新固件,<a class="reference internal" href="../3_quickstarts/orbbecviewer.html"><span class="doc">请点击这里</span></a>。</p>
|
|
<table border="1" class="docutils">
|
|
<thead>
|
|
<tr>
|
|
<th style="text-align: left;">产品列表</th>
|
|
<th style="text-align: left;">最低固件版本</th>
|
|
<th style="text-align: left;"><strong>启动文件</strong></th>
|
|
</tr>
|
|
</thead>
|
|
<tbody>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 435Le</td>
|
|
<td style="text-align: left;">1.2.04</td>
|
|
<td style="text-align: left;">gemini435_le.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 335</td>
|
|
<td style="text-align: left;">1.2.20</td>
|
|
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 336</td>
|
|
<td style="text-align: left;">1.2.20</td>
|
|
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 335L</td>
|
|
<td style="text-align: left;">1.2.20</td>
|
|
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 336L</td>
|
|
<td style="text-align: left;">1.2.20</td>
|
|
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 335Lg</td>
|
|
<td style="text-align: left;">1.3.46</td>
|
|
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 335Le</td>
|
|
<td style="text-align: left;">1.5.31</td>
|
|
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 330</td>
|
|
<td style="text-align: left;">1.2.20</td>
|
|
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 330L</td>
|
|
<td style="text-align: left;">1.2.20</td>
|
|
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 2</td>
|
|
<td style="text-align: left;">1.4.92</td>
|
|
<td style="text-align: left;">gemini2.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Gemini 2 L</td>
|
|
<td style="text-align: left;">1.4.53</td>
|
|
<td style="text-align: left;">gemini2L.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Femto Bolt</td>
|
|
<td style="text-align: left;">1.1.2</td>
|
|
<td style="text-align: left;">femto_bolt.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Femto Mega</td>
|
|
<td style="text-align: left;">1.3.0</td>
|
|
<td style="text-align: left;">femto_mega.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Astra 2</td>
|
|
<td style="text-align: left;">2.8.20</td>
|
|
<td style="text-align: left;">astra2.launch.py</td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: left;">Astra Mini Pro</td>
|
|
<td style="text-align: left;">2.0.01</td>
|
|
<td style="text-align: left;">astra.launch.py</td>
|
|
</tr>
|
|
</tbody>
|
|
</table><p>所有启动文件本质上是类似的,主要区别在于同系列不同型号设置的参数默认值。USB 标准差异(如 USB 2.0 与 USB 3.0)可能需要调整这些参数。如果遇到启动失败,请仔细查看规格说明书,特别关注启动文件中的分辨率设置以及其他参数,以确保兼容与最佳性能。</p>
|
|
</section>
|
|
<section id="orbbec">
|
|
<h2><span class="section-number">1.1.2. </span>Orbbec 相机规格书<a class="headerlink" href="#orbbec" title="Link to this heading"></a></h2>
|
|
<p>更多信息请参考相机规格书。</p>
|
|
<style>
|
|
table {
|
|
border-collapse: collapse;
|
|
width: 100%;
|
|
}
|
|
th, td {
|
|
border: 1px solid #ccc;
|
|
padding: 8px;
|
|
text-align: left;
|
|
vertical-align: middle;
|
|
}
|
|
thead th {
|
|
background-color: #1f4e78;
|
|
color: white;
|
|
text-align: center;
|
|
vertical-align: middle;
|
|
}
|
|
</style><table>
|
|
<thead>
|
|
<tr>
|
|
<th>产品系列</th>
|
|
<th>产品</th>
|
|
<th>规格书</th>
|
|
</tr>
|
|
</thead>
|
|
<tbody>
|
|
<tr>
|
|
<td style="text-align: center;">Gemini 435Le</td>
|
|
<td>Gemini 435Le</td>
|
|
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf">Orbbec Gemini 435Le 规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: center;" rowspan="6">Gemini 330</td>
|
|
<td>Gemini 335</td>
|
|
<td rowspan="4"><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf">Gemini 330 系列 USB 设备规格书</a></td>
|
|
</tr>
|
|
<tr><td>Gemini 336</td></tr>
|
|
<tr><td>Gemini 335L</td></tr>
|
|
<tr><td>Gemini 336L</td></tr>
|
|
<tr>
|
|
<td>Gemini 335Lg</td>
|
|
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2024/10/22030914/Gemini-335Lg-Datasheet-V1.0-241022.pdf">Gemini 330 系列 GMSL 设备规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Gemini 335Le</td>
|
|
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/03/24023151/Orbbec-Gemini-335Le-Datasheet-V1-2.pdf">Gemini 330 系列 以太网设备规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: center;" rowspan="3">Gemini 2</td>
|
|
<td>Gemini 2</td>
|
|
<td rowspan="2"><a href="https://xm917ch2uk.feishu.cn/file/Khxfb2vdioUghexIMqJcAyL3nXf">Orbbec Gemini 2 系列规格书</a></td>
|
|
</tr>
|
|
<tr><td>Gemini 2 L</td></tr>
|
|
<tr>
|
|
<td>Gemini 2 XL</td>
|
|
<td><a href="https://xm917ch2uk.feishu.cn/file/QW2vbNvwxoocRIxSL6Zcvut2npS">Orbbec Gemini 2 XL 规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: center;" rowspan="3">Femto</td>
|
|
<td>Femto Bolt</td>
|
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2024/08/ORBBEC_Datasheet_Femto-Bolt-v1.0.pdf">Orbbec Femto Bolt 规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Femto Mega</td>
|
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Femto-Mega1.pdf">Orbbec Femto Mega 规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Femto Mega I</td>
|
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/08/ORBBEC_Datasheet_Femto-Mega-I.pdf">Orbbec Femto Mega I 规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td style="text-align: center;" rowspan="3">Astra</td>
|
|
<td>Astra 2</td>
|
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-2_V1.2.pdf">Orbbec Astra 2 规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Astra+</td>
|
|
<td><a href="https://xm917ch2uk.feishu.cn/file/Qk0zbx26Doh8XMxw0rIcOgQYnff">Orbbec Astra+ 规格书</a></td>
|
|
</tr>
|
|
<tr>
|
|
<td>Astra Mini Pro</td>
|
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-Mini-Pro-1.pdf">Orbbec Astra Mini Pro 规格书</a></td>
|
|
</tr>
|
|
</tbody>
|
|
</table></section>
|
|
<hr class="docutils" />
|
|
<section id="id3">
|
|
<h2><span class="section-number">1.1.3. </span>支持的平台<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
|
<ul class="simple">
|
|
<li><p>Linux x64:已在 Ubuntu 22.04 上测试</p></li>
|
|
<li><p>Linux ARM64:已在 NVIDIA Jetson AGX Orin、NVIDIA Jetson Orin NX、NVIDIA Jetson Orin Nano、NVIDIA Jetson AGX Xavier、NVIDIA Jetson Xavier NX 上测试</p></li>
|
|
</ul>
|
|
</section>
|
|
</section>
|
|
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2025年10月22日 03:17:27.
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