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Update documentation to include a link to the core function

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ob-yalian
2025-10-31 10:58:03 +08:00
parent 5975bf7203
commit 4d02cd129e
2 changed files with 2 additions and 4 deletions
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docs/en/source/4_application_guide/coordinate_and_tf.md
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@@ -6,7 +6,6 @@
![module in rviz2](../image/application_guide/image1.png) ![module in rviz2](../image/application_guide/image1.png)
### ROS2 Robot Coordinate System vs Camera Optical Coordinate System ### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
* Point of View: * Point of View:
@@ -96,7 +95,7 @@ In rviz2:
### Camera TF Calculation and Publishing Mechanism ### Camera TF Calculation and Publishing Mechanism
#### Core Function: `OBCameraNode::calcAndPublishStaticTransform()` #### Core Function: [OBCameraNode::calcAndPublishStaticTransform()](https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475)
The camera node uses this function to calculate and publish all static transforms between sensors. The camera node uses this function to calculate and publish all static transforms between sensors.
@@ -340,4 +339,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
``` ```
- Publishes raw extrinsics via topic for advanced alignment and registration - Publishes raw extrinsics via topic for advanced alignment and registration
docs/zh/source/4_application_guide/coordinate_and_tf.md
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@@ -95,7 +95,7 @@ rviz2
### 相机TF计算和发布机制 ### 相机TF计算和发布机制
#### 核心函数：`OBCameraNode::calcAndPublishStaticTransform()` #### 核心函数：[OBCameraNode::calcAndPublishStaticTransform()](https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475)
相机节点通过此函数计算和发布所有传感器之间的静态转换关系。 相机节点通过此函数计算和发布所有传感器之间的静态转换关系。