Files
OrbbecSDK_ROS2/zh/source/5_advanced_guide/configuration/net_camera.html
T
2025-10-23 09:59:22 +00:00

476 lines
41 KiB
HTML
Raw Blame History

This file contains ambiguous Unicode characters
This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.
<!DOCTYPE html>
<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
<head>
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>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/custom.css?v=63de077d" />
<link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
<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/js/theme.js"></script>
<link rel="index" title="索引" href="../../../genindex.html" />
<link rel="search" title="搜索" href="../../../search.html" />
<link rel="next" title="6. 性能基准测试" href="../../6_benchmark/benchmark.html" />
<link rel="prev" title="5.3.6. 预定义预设" href="predefined_presets.html" />
</head>
<body class="wy-body-for-nav">
<div class="wy-grid-for-nav">
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
<div class="wy-side-scroll">
<div class="wy-side-nav-search" >
<a href="../../../index.html" class="icon icon-home">
OrbbecSDK V2 ROS2 封装
</a>
<div role="search">
<form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
<input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
<input type="hidden" name="check_keywords" value="yes" />
<input type="hidden" name="area" value="default" />
</form>
</div>
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. 概述</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. 引言</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
<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>
<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>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本(必需)</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
<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>
<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>
<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>
<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>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
<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>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
<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>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
<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>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. 应用指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
<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>
<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>
<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>
<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>
<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>
<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>
</ul>
</li>
<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>
<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>
<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>
<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>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
<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>
<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>
</ul>
</li>
<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>
<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>
<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>
<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>
<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>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<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>
</ul>
</li>
<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>
<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>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
<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>
</ul>
</li>
<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>
<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>
<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>
<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>
<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>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
<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>
</ul>
</li>
<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>
<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>
<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>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
<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>
<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>
<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>
<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>
</ul>
</li>
<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>
<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>
<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>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../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="../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="../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="../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="../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="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../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="../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="../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="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="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="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="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="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="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="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="disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="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="interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="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="predefined_presets.html">5.3.6. 预定义预设</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.7. 网络相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l4"><a class="reference internal" href="#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l4"><a class="reference internal" href="#ip">5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
<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>
</ul>
</li>
<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>
<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>
<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<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>
</ul>
</li>
</ul>
</li>
<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>
<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>
<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>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<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>
<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>
<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>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<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>
<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>
<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>
<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>
<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>
<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>
</ul>
</li>
<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>
<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>
<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>
<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>
<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>
</ul>
</li>
</ul>
</li>
<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>
<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>
<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>
<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>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
<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>
<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<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>
</ul>
</li>
</ul>
</div>
</div>
</nav>
<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" >
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
</nav>
<div class="wy-nav-content">
<div class="rst-content">
<div role="navigation" aria-label="页面导航">
<ul class="wy-breadcrumbs">
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>高级指南</a></li>
<li class="breadcrumb-item active"><span class="section-number">5.3.7. </span>网络相机</li>
<li class="wy-breadcrumbs-aside">
<a href="../../../_sources/source/5_advanced_guide/configuration/net_camera.md.txt" rel="nofollow"> 查看页面源码</a>
</li>
</ul>
<hr/>
</div>
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<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>
<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>
<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>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code>:启用自动枚举网络设备。</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code>:设置网络设备的 IP 地址。</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code>:设置网络设备的端口。通常可以设置为 8090。</p></li>
</ul>
<p><strong>单个网络相机</strong></p>
<blockquote>
<div><p>如果您需要运行 Gemini 435Le/Gemini 335Le,只需在运行命令中将 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> 替换为 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py">gemini435_le.launch.py</a>/<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
</div></blockquote>
<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> 为例:</p>
<ul class="simple">
<li><p><strong>自动枚举网络设备:</strong></p></li>
</ul>
<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>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
<ul class="simple">
<li><p><strong>指定 IP 地址启动设备:</strong></p></li>
</ul>
<p>注意:<code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 需要更改为设备的 IP 地址,这里是 192.168.1.10</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>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span>net_device_port:<span class="o">=</span><span class="m">8090</span>
</pre></div>
</div>
<p><strong>多个网络相机</strong></p>
<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py">multi_net_camera.launch.py</a> 为例:</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>multi_net_camera.launch.py
</pre></div>
</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>
<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>
</div></blockquote>
<p><strong>示例用法</strong></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>set_device_ip<span class="w"> </span>--ros-args<span class="w"> </span><span class="se">\</span>
-p<span class="w"> </span>old_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span><span class="se">\</span>
-p<span class="w"> </span>dhcp:<span class="o">=</span><span class="nb">false</span><span class="w"> </span><span class="se">\</span>
-p<span class="w"> </span>new_ip:<span class="o">=</span><span class="m">192</span>.168.1.11<span class="w"> </span><span class="se">\</span>
-p<span class="w"> </span>mask:<span class="o">=</span><span class="m">255</span>.255.255.0<span class="w"> </span><span class="se">\</span>
-p<span class="w"> </span>gateway:<span class="o">=</span><span class="m">192</span>.168.1.1
</pre></div>
</div>
<p><strong>参数</strong></p>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">old_ip</span></code></strong> – 设备的当前 IP 地址。</p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">dhcp</span></code></strong> – 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 使用 DHCP 或 <code class="docutils literal notranslate"><span class="pre">false</span></code> 使用静态 IP。</p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">new_ip</span></code></strong> – 禁用 DHCP 时要分配的静态 IP 地址。</p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">mask</span></code></strong> – 新 IP 的子网掩码。</p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">gateway</span></code></strong> – 新 IP 的网关地址。</p></li>
</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>
<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>
</div></blockquote>
<p><strong>参数</strong></p>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_enable</span></code></strong> – 启用强制 IP 功能。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_mac</span></code></strong> – 连接多个相机时的目标设备 MAC 地址(例如 <code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>)。您可以使用 <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> 查找每个设备的 MAC。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_address</span></code></strong> – 要分配的静态 IP 地址。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_subnet_mask</span></code></strong> – 静态 IP 的子网掩码。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_gateway</span></code></strong> – 静态 IP 的网关地址。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p></li>
</ul>
<p><strong>示例用法</strong></p>
<ul class="simple">
<li><p><strong>为特定设备启用强制 IP:</strong></p></li>
</ul>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span><span class="se">\</span>
force_ip_enable:<span class="o">=</span><span class="nb">true</span><span class="w"> </span><span class="se">\</span>
force_ip_mac:<span class="o">=</span><span class="m">54</span>:14:FD:06:07:DA<span class="w"> </span><span class="se">\</span>
force_ip_address:<span class="o">=</span><span class="m">192</span>.168.1.50<span class="w"> </span><span class="se">\</span>
force_ip_subnet_mask:<span class="o">=</span><span class="m">255</span>.255.255.0<span class="w"> </span><span class="se">\</span>
force_ip_gateway:<span class="o">=</span><span class="m">192</span>.168.1.1<span class="w"> </span><span class="se">\</span>
net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.50<span class="w"> </span><span class="se">\</span>
net_device_port:<span class="o">=</span><span class="m">8090</span>
</pre></div>
</div>
</section>
</section>
</div>
</div>
<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
<a href="predefined_presets.html" class="btn btn-neutral float-left" title="5.3.6. 预定义预设" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
<a href="../../6_benchmark/benchmark.html" class="btn btn-neutral float-right" title="6. 性能基准测试" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
</div>
<hr/>
<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 2025年10月23日 09:59:18.
</span></p>
</div>
</footer>
</div>
</div>
</section>
</div>
<script>
jQuery(function () {
SphinxRtdTheme.Navigation.enable(true);
});
</script>
</body>
</html>