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OrbbecSDK V2 ROS2 封装
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<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>
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<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>
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<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>
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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>
<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>
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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>
<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>
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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>
<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>
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<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. 应用指南</a><ul class="current">
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.1. 启动参数</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id2">4.1.1. 核心与数据流配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id3">4.1.2. 传感器控制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id4">4.1.2.1. 彩色流</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id5">4.1.2.2. 深度流</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id6">4.1.2.3. 红外流</a></li>
<li class="toctree-l4"><a class="reference internal" href="#ldp">4.1.2.4. 激光 / LDP</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="#id7">4.1.3. 设备、同步与高级功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id8">4.1.3.1. 多相机同步</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id9">4.1.3.2. 网络相机</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id10">4.1.3.3. 设备特定</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id11">4.1.3.4. 视差</a></li>
<li class="toctree-l4"><a class="reference internal" href="#ae">4.1.3.5. 交错AE模式</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id12">4.1.3.6. 相机内同步</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="#id13">4.1.4. 基础与通用参数</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id14">4.1.4.1. 固件与后端</a></li>
<li class="toctree-l4"><a class="reference internal" href="#tf">4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id15">4.1.4.3. 时间同步</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id16">4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id17">4.1.4.5. 其他</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="#imu">4.1.5. IMU</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="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="services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="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="services.html#id8">4.2.3. 设备信息与管理</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="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="topics.html">4.3. 可用话题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="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="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">4.4.2. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.3.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数:<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
</ul>
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</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
<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>
</ul>
</li>
<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>
<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>
<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>
</ul>
</li>
<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>
<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>
<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>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
<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>
<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>
<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>
</ul>
</li>
<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>
<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>
<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>
</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 &amp; Gemini 435Le &amp; 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>
</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>
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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">
<h1><span class="section-number">4.1. </span>启动参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<blockquote>
<div><p>如果您不确定如何设置参数,可以连接orbbec相机并打开 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK/releases">OrbbecViewer</a>。</p>
</div></blockquote>
<p>以下是可用的启动参数:</p>
<section id="id2">
<h2><span class="section-number">4.1.1. </span>核心与数据流配置<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
<ul>
<li><p>启动节点的命名空间。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">serial_number</span></code></strong></p>
<ul>
<li><p>相机的序列号。当使用多个相机时需要此参数。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">usb_port</span></code></strong></p>
<ul>
<li><p>相机的USB端口。当使用多个相机时需要此参数。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_num</span></code></strong></p>
<ul>
<li><p>设备数量。如果需要多个相机,必须填写此参数。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]</span></code></strong></p>
<ul>
<li><p>传感器流的分辨率和帧率。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_rotation</span></code></strong></p>
<ul>
<li><p>设置流图像旋转。</p></li>
<li><p>可能的值为 <code class="docutils literal notranslate"><span class="pre">0</span></code>、<code class="docutils literal notranslate"><span class="pre">90</span></code>、<code class="docutils literal notranslate"><span class="pre">180</span></code>、<code class="docutils literal notranslate"><span class="pre">270</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_flip</span></code></strong></p>
<ul>
<li><p>启用流图像翻转。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_mirror</span></code></strong></p>
<ul>
<li><p>启用流图像镜像。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code></strong></p>
<ul>
<li><p>启用点云。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code></strong></p>
<ul>
<li><p>启用RGB点云。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">cloud_frame_id</span></code></strong></p>
<ul>
<li><p>修改ros消息中的 <code class="docutils literal notranslate"><span class="pre">frame_id</span></code> 名称。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ordered_pc</span></code></strong></p>
<ul>
<li><p>启用无效点云过滤。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_qos</span></code>、<code class="docutils literal notranslate"><span class="pre">[stream]_qos</span></code>、<code class="docutils literal notranslate"><span class="pre">[stream]_camera_info_qos</span></code></strong></p>
<ul>
<li><p>ROS 2消息服务质量(QoS)设置。可能的值为 <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>、<code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>、<code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>,不区分大小写。这些分别对应 <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code> 和 <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id3">
<h2><span class="section-number">4.1.2. </span>传感器控制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<section id="id4">
<h3><span class="section-number">4.1.2.1. </span>彩色流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_auto_exposure</span></code></strong></p>
<ul>
<li><p>启用彩色自动曝光。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_auto_exposure_priority</span></code></strong></p>
<ul>
<li><p>启用彩色自动曝光优先级。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_exposure</span></code></strong></p>
<ul>
<li><p>设置彩色曝光。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_gain</span></code></strong></p>
<ul>
<li><p>设置彩色增益。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_auto_white_balance</span></code></strong></p>
<ul>
<li><p>启用彩色自动白平衡。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_white_balance</span></code></strong></p>
<ul>
<li><p>设置彩色白平衡。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_ae_max_exposure</span></code></strong></p>
<ul>
<li><p>设置彩色自动曝光的最大曝光值。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_brightness</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">color_sharpness</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">color_gamma</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">color_saturation</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">color_contrast</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">color_hue</span></code></strong></p>
<ul>
<li><p>设置彩色亮度、锐度、伽马、饱和度、对比度和色调。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_backlight_compensation</span></code></strong></p>
<ul>
<li><p>启用彩色相机的背光补偿功能。<strong>范围</strong>:<code class="docutils literal notranslate"><span class="pre">0–6</span></code>,<strong>默认值</strong>:<code class="docutils literal notranslate"><span class="pre">3</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_powerline_freq</span></code></strong></p>
<ul>
<li><p>设置电源线频率。可能的值为 <code class="docutils literal notranslate"><span class="pre">disable</span></code>、<code class="docutils literal notranslate"><span class="pre">50hz</span></code>、<code class="docutils literal notranslate"><span class="pre">60hz</span></code>、<code class="docutils literal notranslate"><span class="pre">auto</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_decimation_filter</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">color_decimation_filter_scale</span></code></strong></p>
<ul>
<li><p>启用彩色抽取滤波器并设置其比例。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_ae_roi_[left|right|top|bottom]</span></code></strong></p>
<ul>
<li><p>设置彩色自动曝光ROI。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color_denoising_level</span></code></strong></p>
<ul>
<li><p>启用Gemini 330系列设备的ISP降噪功能。<strong>范围:</strong> <code class="docutils literal notranslate"><span class="pre">0–8</span></code>,<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">0</span></code>(自动)。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id5">
<h3><span class="section-number">4.1.2.2. </span>深度流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_auto_exposure_priority</span></code></strong></p>
<ul class="simple">
<li><p>启用深度自动曝光优先级。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point</span></code></strong></p>
<ul class="simple">
<li><p>设置深度图像的目标平均强度。例如:<code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>。</p></li>
</ul>
<blockquote>
<div><p><strong>注意:</strong> 这取代了已弃用的 <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>,后者仍支持以保持向后兼容性。</p>
</div></blockquote>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
<ul class="simple">
<li><p>启用深度缩放。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_precision</span></code></strong></p>
<ul class="simple">
<li><p>深度精度应为 <code class="docutils literal notranslate"><span class="pre">1mm</span></code> 格式。默认值为 <code class="docutils literal notranslate"><span class="pre">1mm</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_ae_roi_[left|right|top|bottom]</span></code></strong></p>
<ul class="simple">
<li><p>设置深度自动曝光ROI。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id6">
<h3><span class="section-number">4.1.2.3. </span>红外流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ir_auto_exposure</span></code></strong></p>
<ul>
<li><p>启用红外自动曝光。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ir_exposure</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">ir_gain</span></code></strong></p>
<ul>
<li><p>设置红外曝光和增益。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ir_ae_max_exposure</span></code></strong></p>
<ul>
<li><p>设置红外自动曝光的最大曝光值。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ir_brightness</span></code></strong></p>
<ul>
<li><p>设置红外亮度。</p></li>
</ul>
</li>
</ul>
</section>
<section id="ldp">
<h3><span class="section-number">4.1.2.4. </span>激光 / LDP<a class="headerlink" href="#ldp" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_laser</span></code></strong></p>
<ul>
<li><p>启用激光。默认值为 <code class="docutils literal notranslate"><span class="pre">true</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">laser_energy_level</span></code></strong></p>
<ul>
<li><p>设置激光能量级别。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ldp</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">ldp_power_level</span></code></strong></p>
<ul>
<li><p>启用LDP并设置其功率级别。</p></li>
</ul>
</li>
</ul>
</section>
</section>
<section id="id7">
<h2><span class="section-number">4.1.3. </span>设备、同步与高级功能<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<section id="id8">
<h3><span class="section-number">4.1.3.1. </span>多相机同步<a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">sync_mode</span></code></strong></p>
<ul>
<li><p>设置同步模式。默认值为 <code class="docutils literal notranslate"><span class="pre">standalone</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_delay_us</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">color_delay_us</span></code></strong></p>
<ul>
<li><p>接收捕获命令或触发信号后深度/彩色图像捕获的延迟时间(微秒)。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">trigger2image_delay_us</span></code></strong></p>
<ul>
<li><p>接收捕获命令或触发信号后图像捕获的延迟时间(微秒)。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">trigger_out_delay_us</span></code></strong></p>
<ul>
<li><p>接收捕获命令或触发信号后触发信号输出的延迟时间(微秒)。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">trigger_out_enabled</span></code></strong></p>
<ul>
<li><p>启用触发输出信号。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">software_trigger_enabled</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">software_trigger_period</span></code></strong></p>
<ul>
<li><p>启用软件触发输出信号 / 设置软件触发周期(毫秒)。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">frames_per_trigger</span></code></strong></p>
<ul>
<li><p>触发模式下每次触发后每个流的帧数。</p></li>
</ul>
</li>
</ul>
<blockquote>
<div><p>用于 <a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html"><span class="doc">多相机同步</span></a>。</p>
</div></blockquote>
</section>
<section id="id9">
<h3><span class="section-number">4.1.3.2. </span>网络相机<a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
<ul>
<li><p>启用自动枚举网络设备。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code></strong></p>
<ul>
<li><p>设置网络设备的IP地址和端口(通常为 <code class="docutils literal notranslate"><span class="pre">8090</span></code>)。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_enable</span></code></strong></p>
<ul>
<li><p>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>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_mac</span></code></strong></p>
<ul>
<li><p>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>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_address</span></code></strong></p>
<ul>
<li><p>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>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_subnet_mask</span></code></strong></p>
<ul>
<li><p>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>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_gateway</span></code></strong></p>
<ul>
<li><p>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>
</li>
</ul>
<blockquote>
<div><p>用于 <a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html"><span class="doc">网络相机</span></a>。</p>
</div></blockquote>
</section>
<section id="id10">
<h3><span class="section-number">4.1.3.3. </span>设备特定<a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
<ul>
<li><p>默认值为 <code class="docutils literal notranslate"><span class="pre">Default</span></code>。仅支持G330系列。有关更多信息,请参阅 <a class="reference external" href="https://www.orbbec.com/docs/g330-use-depth-presets/">G330文档</a>。该值应为 <a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html"><span class="doc">表中列出</span></a> 的预设名称之一。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code></strong></p>
<ul>
<li><p>启用gmsl触发输出信号 / 设置gmsl触发fps。用于 <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl相机</span></a>。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id11">
<h3><span class="section-number">4.1.3.4. </span>视差<a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">disparity_to_depth_mode</span></code></strong></p>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">HW</span></code>:使用硬件视差到深度转换。<code class="docutils literal notranslate"><span class="pre">SW</span></code>:使用软件视差到深度转换。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">disparity_search_offset</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">disparity_offset_config</span></code></strong></p>
<ul>
<li><p>视差搜索偏移参数。用于 <a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html"><span class="doc">视差搜索偏移</span></a>。</p></li>
</ul>
</li>
</ul>
</section>
<section id="ae">
<h3><span class="section-number">4.1.3.5. </span>交错AE模式<a class="headerlink" href="#ae" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code></strong></p>
<ul>
<li><p>设置 <code class="docutils literal notranslate"><span class="pre">laser</span></code> 或 <code class="docutils literal notranslate"><span class="pre">hdr</span></code> 交错。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">interleave_skip_enable</span></code></strong>、<strong><code class="docutils literal notranslate"><span class="pre">interleave_skip_index</span></code></strong></p>
<ul>
<li><p>控制交错帧模式的参数。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[hdr|laser]_index[0|1]_[...]</span></code></strong></p>
<ul>
<li><p>在交错帧模式下,设置hdr或laser交错帧的第0和第1帧参数。</p></li>
</ul>
</li>
<li><p><em>所有交错参数用于 <a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html"><span class="doc">交错ae模式</span></a>。</em></p></li>
</ul>
</section>
<section id="id12">
<h3><span class="section-number">4.1.3.6. </span>相机内同步<a class="headerlink" href="#id12" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
<ul>
<li><p>启用深度帧与彩色帧的对齐。当 <code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时需要此字段。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">align_mode</span></code></strong></p>
<ul>
<li><p>要使用的对齐模式。选项为 <code class="docutils literal notranslate"><span class="pre">HW</span></code>(硬件对齐)和 <code class="docutils literal notranslate"><span class="pre">SW</span></code>(软件对齐)。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">align_target_stream</span></code></strong></p>
<ul>
<li><p>设置对齐目标流模式。</p></li>
<li><p>可能的值为 <code class="docutils literal notranslate"><span class="pre">COLOR</span></code>、<code class="docutils literal notranslate"><span class="pre">DEPTH</span></code>。</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">COLOR</span></code>:将深度对齐到彩色。</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">DEPTH</span></code>:将彩色对齐到深度。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">intra_camera_sync_reference</span></code></strong></p>
<ul>
<li><p>设置相机内同步的参考点。适用于Gemini 330系列设备,当 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为<strong>软件</strong>或<strong>硬件触发</strong>模式时。<strong>选项:</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>、<code class="docutils literal notranslate"><span class="pre">Middle</span></code>、<code class="docutils literal notranslate"><span class="pre">End</span></code>。<strong>默认值:</strong> <code class="docutils literal notranslate"><span class="pre">Middle</span></code></p></li>
</ul>
</li>
</ul>
</section>
</section>
<section id="id13">
<h2><span class="section-number">4.1.4. </span>基础与通用参数<a class="headerlink" href="#id13" title="Link to this heading"></a></h2>
<section id="id14">
<h3><span class="section-number">4.1.4.1. </span>固件与后端<a class="headerlink" href="#id14" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">upgrade_firmware</span></code></strong></p>
<ul>
<li><p>输入参数为固件路径。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_firmware_path</span></code></strong></p>
<ul>
<li><p>输入参数为预设固件路径。如果输入多个路径,每个路径需要用 <code class="docutils literal notranslate"><span class="pre">,</span></code> 分隔,最多可输入3个固件路径。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code></strong></p>
<ul>
<li><p>可选值:<code class="docutils literal notranslate"><span class="pre">v4l2</span></code>、<code class="docutils literal notranslate"><span class="pre">libuvc</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">connection_delay</span></code></strong></p>
<ul>
<li><p>重新打开设备的延迟时间(毫秒)。某些设备(如Astra mini)需要较长时间初始化,热插拔时立即重新打开设备可能导致固件崩溃。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">retry_on_usb3_detection_failure</span></code></strong></p>
<ul>
<li><p>如果相机连接到USB 2.0端口且未检测到,系统将尝试重置相机最多三次。使用USB 2.0连接时建议将此参数设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>,以避免不必要的重置。</p></li>
</ul>
</li>
</ul>
</section>
<section id="tf">
<h3><span class="section-number">4.1.4.2. </span>TF、外参与校准<a class="headerlink" href="#tf" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">publish_tf</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">tf_publish_rate</span></code></strong></p>
<ul>
<li><p>启用TF发布并设置其发布速率。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_publish_extrinsic</span></code></strong></p>
<ul>
<li><p>启用外参发布。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ir_info_url</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">color_info_url</span></code></strong></p>
<ul>
<li><p>设置IR/彩色相机信息的URL。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_undistortion</span></code></strong></p>
<ul>
<li><p>启用彩色去畸变。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id15">
<h3><span class="section-number">4.1.4.3. </span>时间同步<a class="headerlink" href="#id15" title="Link to this heading"></a></h3>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code></strong></p>
<ul class="simple">
<li><p>启用主机时间与相机时间的同步。默认值为 <code class="docutils literal notranslate"><span class="pre">true</span></code>。如果使用全局时间,设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">time_domain</span></code></strong></p>
<ul class="simple">
<li><p>选择时间戳类型:<code class="docutils literal notranslate"><span class="pre">device</span></code>、<code class="docutils literal notranslate"><span class="pre">global</span></code> 和 <code class="docutils literal notranslate"><span class="pre">system</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">time_sync_period</span></code></strong></p>
<ul class="simple">
<li><p>相机时间与主机系统同步的间隔(秒)。</p></li>
</ul>
<blockquote>
<div><p><strong>注意</strong>:仅当 <strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code></strong> 且 <strong><code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code></strong> 时需要设置此参数。</p>
</div></blockquote>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
<ul class="simple">
<li><p>启用PTP时间同步。仅适用于Gemini 335Le。需要 <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_frame_sync</span></code></strong></p>
<ul class="simple">
<li><p>启用帧同步。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id16">
<h3><span class="section-number">4.1.4.4. </span>日志与诊断<a class="headerlink" href="#id16" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
<ul>
<li><p>SDK日志级别。默认为 <code class="docutils literal notranslate"><span class="pre">info</span></code>。可选值:<code class="docutils literal notranslate"><span class="pre">debug</span></code>、<code class="docutils literal notranslate"><span class="pre">info</span></code>、<code class="docutils literal notranslate"><span class="pre">warn</span></code>、<code class="docutils literal notranslate"><span class="pre">error</span></code>、<code class="docutils literal notranslate"><span class="pre">fatal</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">diagnostic_period</span></code></strong></p>
<ul>
<li><p>诊断周期(秒)。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code></strong></p>
<ul>
<li><p>启用心跳功能。默认为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。如果为 <code class="docutils literal notranslate"><span class="pre">true</span></code>,相机节点将向固件发送心跳信号。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id17">
<h3><span class="section-number">4.1.4.5. </span>其他<a class="headerlink" href="#id17" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">config_file_path</span></code></strong></p>
<ul>
<li><p>YAML配置文件的路径。默认为 <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code>。如果未指定,将使用启动文件中的默认参数。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">frame_aggregate_mode</span></code></strong></p>
<ul>
<li><p>设置帧聚合输出模式。可选值:<code class="docutils literal notranslate"><span class="pre">full_frame</span></code>、<code class="docutils literal notranslate"><span class="pre">color_frame</span></code>、<code class="docutils literal notranslate"><span class="pre">ANY</span></code>、<code class="docutils literal notranslate"><span class="pre">disable</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_d2c_viewer</span></code></strong></p>
<ul>
<li><p>发布D2C叠加图像(仅用于测试)。</p></li>
</ul>
</li>
</ul>
</section>
</section>
<section id="imu">
<h2><span class="section-number">4.1.5. </span>IMU<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_accel</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code></strong></p>
<ul>
<li><p>启用加速度计/陀螺仪并输出其信息话题数据。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code></strong></p>
<ul>
<li><p>启用同步 <code class="docutils literal notranslate"><span class="pre">accel_gyro</span></code>,并输出IMU话题实时数据。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">accel_rate</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gyro_rate</span></code></strong></p>
<ul>
<li><p>加速度计/陀螺仪的频率。值范围从 <code class="docutils literal notranslate"><span class="pre">1.5625hz</span></code> 到 <code class="docutils literal notranslate"><span class="pre">32khz</span></code>。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">accel_range</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gyro_range</span></code></strong></p>
<ul>
<li><p>加速度计(<code class="docutils literal notranslate"><span class="pre">2g</span></code>、<code class="docutils literal notranslate"><span class="pre">4g</span></code>、<code class="docutils literal notranslate"><span class="pre">8g</span></code>、<code class="docutils literal notranslate"><span class="pre">16g</span></code>)和陀螺仪(<code class="docutils literal notranslate"><span class="pre">16dps</span></code> 到 <code class="docutils literal notranslate"><span class="pre">2000dps</span></code>)的范围。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_accel_data_correction</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">enable_gyro_data_correction</span></code></strong></p>
<ul>
<li><p>启用加速度计/陀螺仪的数据校正。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">linear_accel_cov</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">angular_vel_cov</span></code></strong></p>
<ul>
<li><p>线性加速度和角速度的协方差。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id18">
<h2><span class="section-number">4.1.6. </span>深度滤波器<a class="headerlink" href="#id18" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_decimation_filter</span></code></strong></p>
<ul>
<li><p>启用深度抽取滤波器。使用 <code class="docutils literal notranslate"><span class="pre">decimation_filter_scale</span></code> 设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_hdr_merge</span></code></strong></p>
<ul>
<li><p>启用深度hdr合并滤波器。使用 <code class="docutils literal notranslate"><span class="pre">hdr_merge_exposure_1</span></code> 等设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_sequence_id_filter</span></code></strong></p>
<ul>
<li><p>启用深度序列id滤波器。使用 <code class="docutils literal notranslate"><span class="pre">sequence_id_filter_id</span></code> 设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_threshold_filter</span></code></strong></p>
<ul>
<li><p>启用深度阈值滤波器。使用 <code class="docutils literal notranslate"><span class="pre">threshold_filter_max</span></code>、<code class="docutils literal notranslate"><span class="pre">threshold_filter_min</span></code> 设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_hardware_noise_removal_filter</span></code></strong></p>
<ul>
<li><p>启用深度硬件降噪滤波器。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_noise_removal_filter</span></code></strong></p>
<ul>
<li><p>启用深度软件降噪滤波器。使用 <code class="docutils literal notranslate"><span class="pre">noise_removal_filter_min_diff</span></code> 等设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_spatial_filter</span></code></strong></p>
<ul>
<li><p>启用深度空间滤波器。使用 <code class="docutils literal notranslate"><span class="pre">spatial_filter_alpha</span></code> 等设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_temporal_filter</span></code></strong></p>
<ul>
<li><p>启用深度时间滤波器。使用 <code class="docutils literal notranslate"><span class="pre">temporal_filter_diff_threshold</span></code> 等设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_hole_filling_filter</span></code></strong></p>
<ul>
<li><p>启用深度孔洞填充滤波器。使用 <code class="docutils literal notranslate"><span class="pre">hole_filling_filter_mode</span></code> 设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_spatial_fast_filter</span></code></strong></p>
<ul>
<li><p>启用深度空间快速滤波器。使用 <code class="docutils literal notranslate"><span class="pre">spatial_fast_filter_radius</span></code> 设置。</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_spatial_moderate_filter</span></code></strong></p>
<ul>
<li><p>启用深度空间中等滤波器。使用 <code class="docutils literal notranslate"><span class="pre">spatial_moderate_filter_diff_threshold</span></code> 等设置。</p></li>
</ul>
</li>
</ul>
<hr class="docutils" />
<blockquote>
<div><p><strong><em>重要</em></strong>:请仔细阅读 <a class="reference external" href="https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/">此链接</a> 中有关软件滤波设置的说明。如果不确定,请勿修改这些设置。</p>
</div></blockquote>
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