mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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deploy: 9917f88b51
This commit is contained in:
ob-yalian
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### TF from coordinate A to coordinate B:
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In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
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Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
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Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
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Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
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```bash
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ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
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```
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### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+8
-9
@@ -149,16 +149,15 @@
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</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="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li>
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</ul>
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</li>
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</ul>
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@@ -371,7 +370,7 @@
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<div role="contentinfo">
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||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
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||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
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||||
</span></p>
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</div>
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+11
-13
@@ -151,16 +151,15 @@
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
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</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -431,10 +430,9 @@
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a></li>
|
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
|
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@@ -530,7 +528,7 @@
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||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
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|
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+8
-9
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</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
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@@ -379,7 +378,7 @@
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<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
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</span></p>
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</div>
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+1
-1
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@@ -152,16 +152,15 @@
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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. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -685,7 +684,7 @@ thead th {
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
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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. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -555,7 +554,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
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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. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -393,7 +392,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
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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. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -420,7 +419,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -386,7 +385,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -384,7 +383,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
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|
||||
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|
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|
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<div role="contentinfo">
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||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||
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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. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
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|
||||
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@@ -462,7 +461,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
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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. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
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|
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|
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<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
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<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
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@@ -152,16 +152,15 @@
|
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</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
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|
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@@ -391,10 +390,9 @@
|
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</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
|
||||
@@ -419,7 +417,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
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<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
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|
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</div>
|
||||
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|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -382,7 +381,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
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@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -367,19 +366,8 @@
|
||||
<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="tf-from-coordinate-a-to-coordinate-b">
|
||||
<h2><span class="section-number">4.4.2. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h2>
|
||||
<p>In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position</p>
|
||||
<p>Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)</p>
|
||||
<p>Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.</p>
|
||||
<p>Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:</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="module in rviz2" src="../../_images/image2.png" /></p>
|
||||
</section>
|
||||
<section id="ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">
|
||||
<h2><span class="section-number">4.4.3. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.4.2. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>Point of View:</p>
|
||||
<ul>
|
||||
@@ -397,9 +385,9 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="using-ros2-tf-tools">
|
||||
<h2><span class="section-number">4.4.4. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.4.3. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2>
|
||||
<section id="view-tf-tree-structure">
|
||||
<h3><span class="section-number">4.4.4.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.3.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3>
|
||||
<p>Use the following ROS2 commands to print and visualize the TF tree published by the camera package:</p>
|
||||
<p><strong>Print all TF relationships:</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
|
||||
@@ -442,7 +430,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="visualize-tf-tree-in-rviz2">
|
||||
<h3><span class="section-number">4.4.4.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.3.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<p>Use rviz2 to visualize the TF tree and relative frame poses in real time:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
|
||||
</pre></div>
|
||||
@@ -457,9 +445,9 @@
|
||||
</section>
|
||||
</section>
|
||||
<section id="camera-tf-calculation-and-publishing-mechanism">
|
||||
<h2><span class="section-number">4.4.5. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.4.4. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2>
|
||||
<section id="core-function-obcameranode-calcandpublishstatictransform">
|
||||
<h3><span class="section-number">4.4.5.1. </span>Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.4.1. </span>Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
|
||||
<p>The camera node uses this function to calculate and publish all static transforms between sensors.</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>
|
||||
@@ -629,7 +617,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="function-breakdown">
|
||||
<h3><span class="section-number">4.4.5.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.4.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3>
|
||||
<p>Detailed explanation of the code:</p>
|
||||
<p><strong>Quaternion Initialization and Coordinate Transform</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>
|
||||
@@ -711,7 +699,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -1000,7 +999,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -427,7 +426,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -643,7 +642,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -492,7 +491,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -469,7 +468,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -411,7 +410,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+8
-9
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -388,7 +387,7 @@ resolutions is as follows:</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -406,7 +405,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -467,7 +466,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -431,7 +430,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -470,7 +469,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -418,7 +417,7 @@ parameter.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -438,7 +437,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -466,7 +465,7 @@ by running the following command:</p></li>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -454,7 +453,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -522,7 +521,7 @@ python3<span class="w"> </span>SyncFramesMain.py
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -408,7 +407,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -513,7 +512,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -566,7 +565,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -399,7 +398,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -392,7 +391,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -495,7 +494,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -406,7 +405,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -429,7 +428,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -413,7 +412,7 @@ bash<span class="w"> </span>.make_deb.sh
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -392,7 +391,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -152,16 +152,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -1208,7 +1207,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,16 +151,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -413,7 +412,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,16 +150,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <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#function-breakdown">4.4.5.2. Function Breakdown</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <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#function-breakdown">4.4.4.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -378,7 +377,7 @@ language governing permissions and limitations under the License.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
|
||||
<span class="lastupdated">Last updated on 2025-10-30 05:44:30.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
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|
Before Width: | Height: | Size: 111 KiB |
@@ -6,22 +6,6 @@
|
||||
|
||||
|
||||
|
||||
### 从坐标系A到坐标系B的TF变换：
|
||||
|
||||
在Orbbec相机中，原点（0,0,0）取自camera_link位置
|
||||
|
||||
我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换
|
||||
|
||||
此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。
|
||||
|
||||
Gemini335模块的RGB传感器和右红外传感器静态TF变换示例，如rviz2中所示：
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
|
||||
```
|
||||
|
||||
|
||||
|
||||
### ROS2机器人坐标系 vs 相机光学坐标系
|
||||
|
||||
* 视角：
|
||||
|
||||
+8
-9
@@ -150,16 +150,15 @@
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/4_application_guide/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-l2"><a class="reference internal" href="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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|
||||
<li class="toctree-l3"><a class="reference internal" href="source/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="source/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="source/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="source/4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/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="source/4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</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.。
|
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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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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="source/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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|
||||
<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.。
|
||||
<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="../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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|
||||
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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>
|
||||
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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>
|
||||
</ul>
|
||||
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|
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|
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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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|
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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>
|
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@@ -387,7 +386,7 @@
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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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@@ -153,16 +153,15 @@
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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>
|
||||
@@ -385,7 +384,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
|
||||
|
||||
<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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@@ -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>
|
||||
@@ -458,7 +457,7 @@
|
||||
|
||||
<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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@@ -153,16 +153,15 @@
|
||||
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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>
|
||||
@@ -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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|
||||
</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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|
||||
</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.
|
||||
</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.。
|
||||
<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 @@
|
||||
</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>
|
||||
@@ -646,7 +645,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
|
||||
|
||||
<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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|
||||
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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>
|
||||
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|
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|
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@@ -493,7 +492,7 @@
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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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@@ -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>
|
||||
<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.。
|
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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-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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<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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|
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|
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@@ -386,7 +385,7 @@
|
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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>
|
||||
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|
||||
</ul>
|
||||
@@ -404,7 +403,7 @@
|
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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>
|
||||
@@ -468,7 +467,7 @@
|
||||
|
||||
<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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<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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||||
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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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@@ -468,7 +467,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
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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>
|
||||
@@ -418,7 +417,7 @@
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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>
|
||||
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|
||||
</ul>
|
||||
@@ -438,7 +437,7 @@
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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>
|
||||
@@ -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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<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>
|
||||
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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.
|
||||
<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>
|
||||
@@ -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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|
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|
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|
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@@ -153,16 +153,15 @@
|
||||
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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>
|
||||
@@ -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.
|
||||
</span></p>
|
||||
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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>
|
||||
@@ -506,7 +505,7 @@ net.core.wmem_default<span class="o">=</span><span class="m">2147483647</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.
|
||||
<span class="lastupdated">最后更新于 2025年10月30日 05:44:33.
|
||||
</span></p>
|
||||
</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>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -567,7 +566,7 @@
|
||||
|
||||
<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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|
||||
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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>
|
||||
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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.
|
||||
<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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|
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</ul>
|
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@@ -393,7 +392,7 @@
|
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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.
|
||||
<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>
|
||||
@@ -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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|
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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>
|
||||
@@ -407,7 +406,7 @@
|
||||
|
||||
<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="../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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||||
|
||||
@@ -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>
|
||||
@@ -412,7 +411,7 @@ bash<span class="w"> </span>.make_deb.sh
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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>
|
||||
@@ -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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@@ -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>
|
||||
@@ -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.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
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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.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -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>
|
||||
<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>
|
||||
@@ -379,7 +378,7 @@ language governing permissions and limitations under the License.</p>
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user