mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-03 19:47:46 +08:00
deploy: 9917f88b51
This commit is contained in:
ob-yalian
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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>
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<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>
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<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>
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<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>
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<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>
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<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>
|
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<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>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.3.1. 查看TF树结构</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
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</ul>
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</li>
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<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>
|
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<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>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/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>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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@@ -685,7 +684,7 @@ thead th {
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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</li>
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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>
|
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<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>
|
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<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>
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<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>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.3.1. 查看TF树结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
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</ul>
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</li>
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<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>
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<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>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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</ul>
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</li>
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</ul>
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@@ -556,7 +555,7 @@
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
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<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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</span></p>
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</div>
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@@ -153,16 +153,15 @@
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</li>
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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>
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<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>
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||||
<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>
|
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<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>
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<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>
|
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<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>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
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</ul>
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</li>
|
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<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>
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<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>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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</ul>
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</li>
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</ul>
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@@ -394,7 +393,7 @@
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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</span></p>
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</li>
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
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<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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</ul>
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</li>
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</ul>
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@@ -421,7 +420,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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</span></p>
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</div>
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@@ -153,16 +153,15 @@
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</li>
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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>
|
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<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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</ul>
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</li>
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</ul>
|
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@@ -387,7 +386,7 @@
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<div role="contentinfo">
|
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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</span></p>
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</div>
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</li>
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
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|
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<div role="contentinfo">
|
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
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<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
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|
||||
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|
||||
@@ -458,7 +457,7 @@
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<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -463,7 +462,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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|
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|
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@@ -153,16 +153,15 @@
|
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</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -394,7 +393,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
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|
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|
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|
||||
@@ -153,16 +153,15 @@
|
||||
</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#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="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="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="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="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</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>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="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="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="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
<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>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -392,10 +391,9 @@
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
|
||||
<li class="toctree-l2"><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-l2"><a class="reference internal" href="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-l2"><a class="reference internal" href="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-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a></li>
|
||||
<li class="toctree-l2"><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-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
|
||||
@@ -420,7 +418,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -153,16 +153,15 @@
|
||||
</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#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="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="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="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="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</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>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="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="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="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
<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>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -383,7 +382,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -153,16 +153,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. 坐标系和 TF 变换</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id1">4.4.1. 相机传感器结构</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#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="#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="#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#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="#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id2">4.4.3.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#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="#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="#id4">4.4.5.2. 函数解析</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#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="#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="#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -368,19 +367,8 @@
|
||||
<p><img alt="module in rviz2" src="../../_images/image3.png" /></p>
|
||||
<p><img alt="module in rviz2" src="../../_images/image1.png" /></p>
|
||||
</section>
|
||||
<section id="abtf">
|
||||
<h2><span class="section-number">4.4.2. </span>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="Link to this heading"></a></h2>
|
||||
<p>在Orbbec相机中，原点（0,0,0）取自camera_link位置</p>
|
||||
<p>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</p>
|
||||
<p>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。</p>
|
||||
<p>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：</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><img alt="rviz2中的模块" src="../../_images/image2.png" /></p>
|
||||
</section>
|
||||
<section id="ros2-vs">
|
||||
<h2><span class="section-number">4.4.3. </span>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.4.2. </span>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>视角：</p>
|
||||
<ul>
|
||||
@@ -398,9 +386,9 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="ros2-tf">
|
||||
<h2><span class="section-number">4.4.4. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.4.3. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h2>
|
||||
<section id="id2">
|
||||
<h3><span class="section-number">4.4.4.1. </span>查看TF树结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.3.1. </span>查看TF树结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
|
||||
<p>可以使用以下ROS2命令来打印和可视化相机包发布的TF树：</p>
|
||||
<p><strong>打印所有TF关系：</strong></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
|
||||
@@ -443,7 +431,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="rviz2tf">
|
||||
<h3><span class="section-number">4.4.4.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.3.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h3>
|
||||
<p>在rviz2中可以实时可视化TF树结构和坐标系的相对位置：</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
|
||||
</pre></div>
|
||||
@@ -458,9 +446,9 @@
|
||||
</section>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">4.4.5. </span>相机TF计算和发布机制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.4.4. </span>相机TF计算和发布机制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<section id="obcameranode-calcandpublishstatictransform">
|
||||
<h3><span class="section-number">4.4.5.1. </span>核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.4.1. </span>核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
|
||||
<p>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。</p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">OBCameraNode::calcAndPublishStaticTransform</span><span class="p">()</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
|
||||
@@ -630,7 +618,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<h3><span class="section-number">4.4.5.2. </span>函数解析<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.4.2. </span>函数解析<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
|
||||
<p>下面是代码的详细解释：</p>
|
||||
<p><strong>四元数初始化与坐标系变换</strong></p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
|
||||
@@ -726,7 +714,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -153,16 +153,15 @@
|
||||
</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#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="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="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="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="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</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>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="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="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="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
<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>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -1001,7 +1000,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -153,16 +153,15 @@
|
||||
</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#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="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="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="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="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</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>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="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="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="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
<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>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -428,7 +427,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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||||
<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#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="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="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="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="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</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>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="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="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>
|
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
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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>
|
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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||||
<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#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="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="coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="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="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</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>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="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="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="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
<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>
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</ul>
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<div role="contentinfo">
|
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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|
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
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<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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|
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<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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||||
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
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<div role="contentinfo">
|
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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||||
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
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|
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|
||||
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|
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<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
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|
||||
</ul>
|
||||
@@ -432,7 +431,7 @@
|
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||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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|
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
||||
@@ -468,7 +467,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -418,7 +417,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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|
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
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|
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</ul>
|
||||
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|
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||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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|
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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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -467,7 +466,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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|
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@@ -153,16 +153,15 @@
|
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</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -455,7 +454,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
</span></p>
|
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</div>
|
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|
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@@ -153,16 +153,15 @@
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -523,7 +522,7 @@ python3<span class="w"> </span>SyncFramesMain.py
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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</span></p>
|
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|
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|
||||
@@ -153,16 +153,15 @@
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -409,7 +408,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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</span></p>
|
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</div>
|
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@@ -153,16 +153,15 @@
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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="../../4_application_guide/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="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
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|
||||
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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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>
|
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<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>
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||||
<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>
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<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/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>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.3.1. 查看TF树结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
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</ul>
|
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</li>
|
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<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>
|
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<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>
|
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/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>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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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>
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<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>
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<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>
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||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.3.1. 查看TF树结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
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</ul>
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</li>
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<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>
|
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/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>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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</ul>
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|
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<div role="contentinfo">
|
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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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>
|
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<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -393,7 +392,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -496,7 +495,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
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|
||||
@@ -407,7 +406,7 @@
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|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
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|
||||
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|
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|
||||
@@ -153,16 +153,15 @@
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -430,7 +429,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
</span></p>
|
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</div>
|
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|
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@@ -153,16 +153,15 @@
|
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</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -412,7 +411,7 @@ bash<span class="w"> </span>.make_deb.sh
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
</span></p>
|
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</div>
|
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|
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@@ -153,16 +153,15 @@
|
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</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -393,7 +392,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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</span></p>
|
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</div>
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|
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@@ -153,16 +153,15 @@
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -1209,7 +1208,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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</span></p>
|
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|
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|
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@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/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="../4_application_guide/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="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -414,7 +413,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
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</span></p>
|
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|
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|
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@@ -151,16 +151,15 @@
|
||||
</li>
|
||||
<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>
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<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>
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<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>
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<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>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="4_application_guide/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>
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<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id2">4.4.3.1. 查看TF树结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
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||||
</ul>
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||||
</li>
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||||
<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>
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||||
<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>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="4_application_guide/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>
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<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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||||
</ul>
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</li>
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</ul>
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@@ -379,7 +378,7 @@ language governing permissions and limitations under the License.</p>
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||||
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||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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||||
<span class="lastupdated">最后更新于 2025年10月29日 02:54:49.
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<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
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</span></p>
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</div>
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