i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 03:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

deploy: 9917f88b51

Browse Source
This commit is contained in:
ob-yalian
2025-10-30 05:44:37 +00:00
parent f1aac55feb
commit 6c8672b7bb
100 changed files with 732 additions and 877 deletions
Download Patch File Download Diff File Expand all files Collapse all files
zh/_sources/source/4_application_guide/coordinate_and_tf.md.txt
-16
View File
@@ -6,22 +6,6 @@
![module in rviz2](../image/application_guide/image1.png)
### 从坐标系A到坐标系B的TF变换：
在Orbbec相机中，原点（0,0,0）取自camera_link位置
我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换
此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。
Gemini335模块的RGB传感器和右红外传感器静态TF变换示例，如rviz2中所示：
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![rviz2中的模块](../image/application_guide/image2.png)
### ROS2机器人坐标系 vs 相机光学坐标系
* 视角：