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<title>7.1. 从 main 分支迁移到开源 v2-main 分支 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
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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"><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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
<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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
<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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<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>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
<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>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. 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="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 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="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 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">4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 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">4.6.2.2. 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 current"><a class="reference internal" href="developer_guide.html">7. 开发者指南</a><ul class="current">
<li class="toctree-l2 current"><a class="current reference internal" href="#">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="#id1">7.1.1. 引言</a></li>
<li class="toctree-l3"><a class="reference internal" href="#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="#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="#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="#id5">7.1.2.3. 维护和更新优势</a></li>
<li class="toctree-l4"><a class="reference internal" href="#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="#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="#id9">7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="#id10">7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="#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="building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
<li class="toctree-l3"><a class="reference internal" href="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="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>
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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="main-v2-main">
<h1><span class="section-number">7.1. </span>从 main 分支迁移到开源 v2-main 分支<a class="headerlink" href="#main-v2-main" title="Link to this heading"></a></h1>
<section id="id1">
<h2><span class="section-number">7.1.1. </span>引言<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<p>最初,奥比中光提供了一个<strong>闭源 SDK — Orbbec SDK v1</strong>,它构成了 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main">OrbbecSDK ROS2 Wrapper main 分支</a>的基础。虽然 ROS 封装层本身是开源的,但它依赖于闭源的底层 SDK。这种架构限制了灵活性,阻碍了社区驱动的改进。</p>
<p>随着开发者越来越需要透明性、可维护性和更广泛的设备支持,奥比中光发布了全新的开源 v2-main <strong>— Orbbec SDK_v2</strong> (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK/tree/v2-main">GitHub 链接</a>)。基于此 SDK,<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">OrbbecSDK ROS2 的开源 v2-main 分支</a>现在完全开源,提供了更好的可扩展性,并与奥比中光未来的产品路线图保持一致。</p>
<p>本文档介绍了将 ROS 包从 main 分支(基于 SDK v1)迁移到 v2-main 分支(基于 Orbbec SDK_v2)的动机和好处。它重点介绍了<strong>启动文件、参数、话题和服务</strong>的主要差异,并提供迁移指南帮助开发者顺利过渡。</p>
<p><strong>注意:</strong> 在以下内容中,<strong>main</strong> 指闭源分支,而 <strong>v2-main</strong> 指开源 v2-main 分支。</p>
</section>
<section id="id2">
<h2><span class="section-number">7.1.2. </span>从 main 迁移到 v2-main 的优势<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<p>2024年10月,奥比中光发布了重大更新:<strong>OrbbecSDK ROS2 Wrapper v2</strong>,它完全基于开源的 Orbbec SDK_v2。与传统的 main 分支(SDK v1.x)相比,v2-main 分支(Orbbec SDK_v2.x)提供了更大的灵活性和可扩展性,同时为所有符合 UVC 标准的奥比中光 USB 产品提供全面支持。从 main --&gt; v2-main 的迁移带来以下关键优势:</p>
<section id="id3">
<h3><span class="section-number">7.1.2.1. </span><strong>全面的设备支持</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
<p>v2-main 分支支持所有符合 UVC 标准的奥比中光 USB 相机,并将成为支持所有新发布设备的主要平台。</p>
</section>
<section id="id4">
<h3><span class="section-number">7.1.2.2. </span><strong>透明性和可扩展性</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<p>Orbbec SDK_v2 完全开源,允许开发者直接访问底层实现,便于调试、优化和二次开发。相比之下,SDK v1 是闭源的,引入了&quot;黑盒&quot;约束。</p>
</section>
<section id="id5">
<h3><span class="section-number">7.1.2.3. </span>维护和更新优势<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<p>v2-main 分支提供全功能支持,包括新功能开发、性能优化和错误修复。main 分支已进入仅维护模式,只有关键错误可能获得有限更新,不再开发新功能。</p>
</section>
<section id="id6">
<h3><span class="section-number">7.1.2.4. </span><strong>社区和生态系统支持</strong><a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<p>有了开源 SDK,开发者可以直接在 GitHub 或 Gitee 上提交问题和拉取请求,为功能演进做出贡献。这不仅加速了问题解决,还促进了更开放和活跃的奥比中光生态系统。</p>
</section>
</section>
<section id="id7">
<h2><span class="section-number">7.1.3. </span>main 和 v2-main 分支的比较<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<section id="id8">
<h3><span class="section-number">7.1.3.1. </span><strong>启动文件差异</strong><a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
<ol class="simple">
<li><p>在 v2-main 中,为 Gemini 330 系列添加了新的低功耗启动文件:</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_low_cpu.launch.py</span></code></p></li>
</ul>
</li>
<li><p>v2-main 引入了对 <strong>Gemini 435Le</strong>、<strong>Gemini 345</strong> 和 <strong>Gemini 345Lg</strong> 相机的支持。</p></li>
<li><p>由于 <strong>OrbbecSDK_v2 仅支持 UVC 设备</strong>,v2-main 中支持的相机型号范围比 main 略窄。详细信息见下表。</p></li>
</ol>
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>相机</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>Gemini 435Le</td>
<td>不支持</td>
<td>gemini435_le.launch.py</td>
</tr>
<tr>
<td>Gemini 345</td>
<td>不支持</td>
<td>gemini345.launch.py</td>
</tr>
<tr>
<td>Gemini 345Lg</td>
<td>不支持</td>
<td>gemini345_lg.launch.py</td>
</tr>
<tr>
<td>Gemini 330 系列</td>
<td>gemini_330_series.launch.py</td>
<td>gemini_330_series.launch.py</td>
</tr>
<tr>
<td>Gemini 330 低CPU</td>
<td>-</td>
<td>gemini_330_series_low_cpu.launch.py</td>
</tr>
<tr>
<td>Gemini 210</td>
<td>gemini210.launch.py</td>
<td>gemini210.launch.py</td>
</tr>
<tr>
<td>Gemini 2</td>
<td>gemini2.launch.py</td>
<td>gemini2.launch.py</td>
</tr>
<tr>
<td>Gemini 2L</td>
<td>gemini2L.launch.py</td>
<td>gemini2.launch.py</td>
</tr>
<tr>
<td>Gemini 2XL</td>
<td>gemini2XL.launch.py</td>
<td>-</td>
</tr>
<tr>
<td>Femto Bolt</td>
<td>femto_bolt.launch.py</td>
<td>femto_bolt.launch.py</td>
</tr>
<tr>
<td>Femto Mega</td>
<td>femto_mega.launch.py</td>
<td>femto_mega.launch.py</td>
</tr>
<tr>
<td>Femto</td>
<td>femto.launch.py</td>
<td>femto.launch.py</td>
</tr>
<tr>
<td>Astra 2</td>
<td>astra2.launch.py</td>
<td>astra2.launch.py</td>
</tr>
<tr>
<td>Astra</td>
<td>astra.launch.py</td>
<td>astra.launch.py</td>
</tr>
<tr>
<td>Astra Mini Pro / S Pro</td>
<td>astra_mini_pro.launch.py ...</td>
<td>astra.launch.py</td>
</tr>
<tr>
<td>多相机(同步)</td>
<td>multi_camera_synced.launch.py</td>
<td>multi_camera_synced.launch.py</td>
</tr>
<tr>
<td>多相机(通用/通用)</td>
<td>multi_camera.launch.py</td>
<td>multi_camera.launch.py 或 orbbec_multicamera.launch.py</td>
</tr>
<tr>
<td>单相机通用启动</td>
<td>ob_camera.launch.py</td>
<td>orbbec_camera.launch.py</td>
</tr>
<tr>
<td>OpenNI 设备(大白、得雅)</td>
<td>对应型号独立文件</td>
<td>不支持</td>
</tr>
</tbody>
</table></section>
<section id="id9">
<h3><span class="section-number">7.1.3.2. </span><strong>参数差异</strong><a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
<p><strong>v2-main 中的新参数(main 中不可用)</strong></p>
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>参数名称</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>描述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>upgrade_firmware</td>
<td>-</td>
<td>已添加</td>
<td>固件升级路径</td>
</tr>
<tr>
<td>preset_firmware_path</td>
<td>-</td>
<td>已添加</td>
<td>预设固件文件路径</td>
</tr>
<tr>
<td>load_config_json_file_path</td>
<td>-</td>
<td>已添加</td>
<td>加载 JSON 配置</td>
</tr>
<tr>
<td>export_config_json_file_path</td>
<td>-</td>
<td>已添加</td>
<td>导出 JSON 配置</td>
</tr>
<tr>
<td>uvc_backend</td>
<td>-</td>
<td>已添加</td>
<td>libuvc / v4l2 后端选择</td>
</tr>
<tr>
<td>enable_color_auto_exposure_priority</td>
<td>-</td>
<td>已添加</td>
<td>AE 优先级控制</td>
</tr>
<tr>
<td>color_flip</td>
<td>-</td>
<td>已添加</td>
<td>彩色图像垂直翻转</td>
</tr>
<tr>
<td>color_mirror</td>
<td>-</td>
<td>已添加</td>
<td>彩色图像水平镜像</td>
</tr>
<tr>
<td>depth_flip</td>
<td>-</td>
<td>已添加</td>
<td>深度图像垂直翻转</td>
</tr>
<tr>
<td>depth_mirror</td>
<td>-</td>
<td>已添加</td>
<td>深度图像水平镜像</td>
</tr>
<tr>
<td>left_ir_flip</td>
<td>-</td>
<td>已添加</td>
<td>左红外垂直翻转</td>
</tr>
<tr>
<td>left_ir_mirror</td>
<td>-</td>
<td>已添加</td>
<td>左红外水平镜像</td>
</tr>
<tr>
<td>right_ir_flip</td>
<td>-</td>
<td>已添加</td>
<td>右红外垂直翻转</td>
</tr>
<tr>
<td>right_ir_mirror</td>
<td>-</td>
<td>已添加</td>
<td>右红外水平镜像</td>
</tr>
<tr>
<td>enable_left_ir_sequence_id_filter</td>
<td>-</td>
<td>已添加</td>
<td>左红外序列 ID 滤波器</td>
</tr>
<tr>
<td>enable_right_ir_sequence_id_filter</td>
<td>-</td>
<td>已添加</td>
<td>右红外序列 ID 滤波器</td>
</tr>
<tr>
<td>enable_accel_data_correction</td>
<td>-</td>
<td>已添加</td>
<td>加速度计数据校正</td>
</tr>
<tr>
<td>enable_gyro_data_correction</td>
<td>-</td>
<td>已添加</td>
<td>陀螺仪数据校正</td>
</tr>
<tr>
<td>enumerate_net_device</td>
<td>-</td>
<td>已添加</td>
<td>自动枚举网络设备</td>
</tr>
<tr>
<td>net_device_ip</td>
<td>-</td>
<td>已添加</td>
<td>网络设备 IP 地址</td>
</tr>
<tr>
<td>net_device_port</td>
<td>-</td>
<td>已添加</td>
<td>网络设备端口</td>
</tr>
<tr>
<td>exposure_range_mode</td>
<td>-</td>
<td>已添加</td>
<td>曝光范围模式:default / ultimate / regular</td>
</tr>
<tr>
<td>disparity_to_depth_mode</td>
<td>-</td>
<td>已添加</td>
<td>硬件视差到深度转换</td>
</tr>
<tr>
<td>ldp_power_level</td>
<td>-</td>
<td>已添加</td>
<td>LDP 功率级别</td>
</tr>
<tr>
<td>time_sync_period</td>
<td>-</td>
<td>已添加</td>
<td>时间同步周期</td>
</tr>
<tr>
<td>gmsl_trigger_fps</td>
<td>-</td>
<td>已添加</td>
<td>GMSL 触发帧率</td>
</tr>
<tr>
<td>enable_gmsl_trigger</td>
<td>-</td>
<td>已添加</td>
<td>GMSL 触发启用</td>
</tr>
<tr>
<td>disparity_range_mode</td>
<td>-</td>
<td>已添加</td>
<td>视差范围模式</td>
</tr>
<tr>
<td>disparity_search_offset</td>
<td>-</td>
<td>已添加</td>
<td>视差搜索偏移</td>
</tr>
<tr>
<td>disparity_offset_config</td>
<td>-</td>
<td>已添加</td>
<td>视差偏移配置</td>
</tr>
<tr>
<td>offset_index0</td>
<td>-</td>
<td>已添加</td>
<td>视差偏移索引 0</td>
</tr>
<tr>
<td>offset_index1</td>
<td>-</td>
<td>已添加</td>
<td>视差偏移索引 1</td>
</tr>
<tr>
<td>interleave_ae_mode</td>
<td>-</td>
<td>已添加</td>
<td>AE 交错模式</td>
</tr>
<tr>
<td>interleave_frame_enable</td>
<td>-</td>
<td>已添加</td>
<td>交错帧启用</td>
</tr>
<tr>
<td>interleave_skip_enable</td>
<td>-</td>
<td>已添加</td>
<td>跳过红外帧启用</td>
</tr>
<tr>
<td>interleave_skip_index</td>
<td>-</td>
<td>已添加</td>
<td>跳过红外帧索引</td>
</tr>
<tr>
<td>hdr_index1_laser_control</td>
<td>-</td>
<td>已添加</td>
<td>HDR 激光控制参数</td>
</tr>
<tr>
<td>hdr_index1_depth_exposure</td>
<td>-</td>
<td>已添加</td>
<td>HDR 深度曝光</td>
</tr>
<tr>
<td>hdr_index1_depth_gain</td>
<td>-</td>
<td>已添加</td>
<td>HDR 深度增益</td>
</tr>
<tr>
<td>hdr_index1_ir_brightness</td>
<td>-</td>
<td>已添加</td>
<td>HDR 红外亮度</td>
</tr>
<tr>
<td>hdr_index1_ir_ae_max_exposure</td>
<td>-</td>
<td>已添加</td>
<td>HDR 红外最大 AE</td>
</tr>
<tr>
<td>hdr_index0_laser_control</td>
<td>-</td>
<td>已添加</td>
<td>HDR 激光控制参数</td>
</tr>
<tr>
<td>hdr_index0_depth_exposure</td>
<td>-</td>
<td>已添加</td>
<td>HDR 深度曝光</td>
</tr>
<tr>
<td>hdr_index0_depth_gain</td>
<td>-</td>
<td>已添加</td>
<td>HDR 深度增益</td>
</tr>
<tr>
<td>hdr_index0_ir_brightness</td>
<td>-</td>
<td>已添加</td>
<td>HDR 红外亮度</td>
</tr>
<tr>
<td>hdr_index0_ir_ae_max_exposure</td>
<td>-</td>
<td>已添加</td>
<td>HDR 红外最大 AE</td>
</tr>
<tr>
<td>laser_index1_laser_control</td>
<td>-</td>
<td>已添加</td>
<td>激光交错控制</td>
</tr>
<tr>
<td>laser_index1_depth_exposure</td>
<td>-</td>
<td>已添加</td>
<td>激光深度曝光</td>
</tr>
<tr>
<td>laser_index1_depth_gain</td>
<td>-</td>
<td>已添加</td>
<td>激光深度增益</td>
</tr>
<tr>
<td>laser_index1_ir_brightness</td>
<td>-</td>
<td>已添加</td>
<td>激光红外亮度</td>
</tr>
<tr>
<td>laser_index1_ir_ae_max_exposure</td>
<td>-</td>
<td>已添加</td>
<td>激光红外最大 AE</td>
</tr>
<tr>
<td>laser_index0_laser_control</td>
<td>-</td>
<td>已添加</td>
<td>激光交错控制</td>
</tr>
<tr>
<td>laser_index0_depth_exposure</td>
<td>-</td>
<td>已添加</td>
<td>激光深度曝光</td>
</tr>
<tr>
<td>laser_index0_depth_gain</td>
<td>-</td>
<td>已添加</td>
<td>激光深度增益</td>
</tr>
<tr>
<td>laser_index0_ir_brightness</td>
<td>-</td>
<td>已添加</td>
<td>激光红外亮度</td>
</tr>
<tr>
<td>laser_index0_ir_ae_max_exposure</td>
<td>-</td>
<td>已添加</td>
<td>激光红外最大 AE</td>
</tr>
<tr>
<td>software_trigger_enabled</td>
<td>-</td>
<td>已添加</td>
<td>软件触发启用</td>
</tr>
<tr>
<td>enable_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>PTP 配置(Gemini 335Le)</td>
</tr>
<tr>
<td>align_target_stream</td>
<td>-</td>
<td>已添加</td>
<td>对齐目标流</td>
</tr>
<tr>
<td>spatial_fast_filter_radius</td>
<td>-</td>
<td>已添加</td>
<td>快速空间滤波器半径</td>
</tr>
<tr>
<td>spatial_moderate_filter_diff_threshold</td>
<td>-</td>
<td>已添加</td>
<td>中等空间滤波器差异阈值</td>
</tr>
<tr>
<td>spatial_moderate_filter_magnitude</td>
<td>-</td>
<td>已添加</td>
<td>中等空间滤波器幅度</td>
</tr>
<tr>
<td>spatial_moderate_filter_radius</td>
<td>-</td>
<td>已添加</td>
<td>中等空间滤波器半径</td>
</tr>
<tr>
<td>color.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>彩色图像传输插件</td>
</tr>
<tr>
<td>depth.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>深度图像传输插件</td>
</tr>
<tr>
<td>left_ir.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>左红外传输插件</td>
</tr>
<tr>
<td>right_ir.image_raw.enable_pub_plugins</td>
<td>-</td>
<td>已添加</td>
<td>右红外传输插件</td>
</tr>
<tr>
<td>force_ip_enable</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP 功能</td>
</tr>
<tr>
<td>force_ip_mac</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP MAC 地址</td>
</tr>
<tr>
<td>force_ip_dhcp</td>
<td>-</td>
<td>已添加</td>
<td>DHCP 自动分配</td>
</tr>
<tr>
<td>force_ip_address</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP 静态地址</td>
</tr>
<tr>
<td>force_ip_subnet_mask</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP 子网掩码</td>
</tr>
<tr>
<td>force_ip_gateway</td>
<td>-</td>
<td>已添加</td>
<td>强制 IP 网关</td>
</tr>
</tbody>
</table><p><strong>已移除参数(仅 main 有,v2-main 中已移除)</strong></p>
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>参数</strong></th>
<th><strong>描述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>enable_3d_reconstruction_mode</td>
<td>3D 重建模式已弃用</td>
</tr>
<tr>
<td>enable_hardware_reset</td>
<td>硬件重置接口已弃用</td>
</tr>
<tr>
<td>enable_hardware_noise_removal_filter</td>
<td>硬件噪声去除滤波器已弃用</td>
</tr>
<tr>
<td>laser_on_off_mode</td>
<td>旧激光开关接口,由 interleave / laser_index 替换</td>
</tr>
<tr>
<td>enable_3d_reconstruction_mode</td>
<td>3D 重建模式重复;v2-main 中不再使用</td>
</tr>
<tr>
<td>device_preset</td>
<td>部分逻辑迁移到新固件 / 交错参数</td>
</tr>
<tr>
<td>enable_trigger_out</td>
<td>旧软件触发接口由 software_trigger_enabled 替换</td>
</tr>
<tr>
<td>retry_on_usb3_detection_failure</td>
<td>可选;v2-main 中逻辑已调整或移除</td>
</tr>
<tr>
<td>enable_color_undistortion</td>
<td>旧接口逻辑集成到其他地方;v2-main 中仍存在但使用可能已调整</td>
</tr>
</tbody>
</table></section>
<section id="id10">
<h3><span class="section-number">7.1.3.3. </span><strong>话题差异</strong><a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
<p><strong>v2-main</strong> 在 main 基础上添加了以下话题:</p>
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>话题</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>描述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>/camera/device_status</td>
<td>-</td>
<td>已添加</td>
<td>发布设备状态(帧率延迟、设备连接状态等)</td>
</tr>
</tbody>
</table></section>
<section id="id11">
<h3><span class="section-number">7.1.3.4. </span><strong>服务差异</strong><a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
<p><strong>v2-main</strong> 在 main 基础上添加了以下服务:</p>
<table border="1" class="docutils">
<thead>
<tr>
<th><strong>服务</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>描述</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>get_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>获取 PTP 配置</td>
</tr>
<tr>
<td>set_ptp_config</td>
<td>-</td>
<td>已添加</td>
<td>设置 PTP 配置</td>
</tr>
<tr>
<td>get_streams_enable</td>
<td>-</td>
<td>已添加</td>
<td>获取每个流的启用状态</td>
</tr>
<tr>
<td>set_streams_enable</td>
<td>-</td>
<td>已添加</td>
<td>设置每个流的启用状态</td>
</tr>
<tr>
<td>get_user_calib_params</td>
<td>-</td>
<td>已添加</td>
<td>获取用户校准参数</td>
</tr>
<tr>
<td>set_user_calib_params</td>
<td>-</td>
<td>已添加</td>
<td>设置用户校准参数</td>
</tr>
<tr>
<td>read_customer_data</td>
<td>-</td>
<td>已添加</td>
<td>读取用户存储的自定义数据</td>
</tr>
<tr>
<td>write_customer_data</td>
<td>-</td>
<td>已添加</td>
<td>写入用户存储的自定义数据</td>
</tr>
<tr>
<td>send_software_trigger</td>
<td>-</td>
<td>已添加</td>
<td>发送软件触发</td>
</tr>
<tr>
<td>set_color_ae_roi</td>
<td>-</td>
<td>已添加</td>
<td>设置彩色图像的 AE ROI</td>
</tr>
<tr>
<td>set_depth_ae_roi</td>
<td>-</td>
<td>已添加</td>
<td>设置深度图像的 AE ROI</td>
</tr>
<tr>
<td>set_color_flip</td>
<td>-</td>
<td>已添加</td>
<td>设置彩色图像垂直翻转</td>
</tr>
<tr>
<td>set_depth_flip</td>
<td>-</td>
<td>已添加</td>
<td>设置深度图像垂直翻转</td>
</tr>
<tr>
<td>set_color_rotation</td>
<td>-</td>
<td>已添加</td>
<td>设置彩色图像旋转</td>
</tr>
<tr>
<td>set_depth_rotation</td>
<td>-</td>
<td>已添加</td>
<td>设置深度图像旋转</td>
</tr>
<tr>
<td>set_left_ir_ae_roi</td>
<td>-</td>
<td>已添加</td>
<td>设置左红外的 AE ROI</td>
</tr>
<tr>
<td>set_right_ir_ae_roi</td>
<td>-</td>
<td>已添加</td>
<td>设置右红外的 AE ROI</td>
</tr>
<tr>
<td>set_left_ir_flip</td>
<td>-</td>
<td>已添加</td>
<td>左红外垂直翻转</td>
</tr>
<tr>
<td>set_right_ir_flip</td>
<td>-</td>
<td>已添加</td>
<td>右红外垂直翻转</td>
</tr>
<tr>
<td>set_left_ir_rotation</td>
<td>-</td>
<td>已添加</td>
<td>左红外旋转</td>
</tr>
<tr>
<td>set_right_ir_rotation</td>
<td>-</td>
<td>已添加</td>
<td>右红外旋转</td>
</tr>
<tr>
<td>set_reset_timestamp</td>
<td>-</td>
<td>已添加</td>
<td>重置时间戳</td>
</tr>
<tr>
<td>set_sync_hosttime</td>
<td>-</td>
<td>已添加</td>
<td>同步主机时间</td>
</tr>
<tr>
<td>set_sync_interleaverlaser</td>
<td>-</td>
<td>已添加</td>
<td>交错激光同步</td>
</tr>
<tr>
<td>set_filter</td>
<td>-</td>
<td>已添加</td>
<td>设置深度/点云滤波器</td>
</tr>
</tbody>
</table></section>
</section>
</section>
</div>
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