mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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deploy: 1b6f872d5c
This commit is contained in:
ob-yalian
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After Width: | Height: | Size: 111 KiB |
@@ -1,6 +1,4 @@
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||||
### 从源码构建
|
||||
|
||||
#### 环境配置
|
||||
### 环境配置
|
||||
|
||||
根据官方指南安装 ROS 2：
|
||||
|
||||
@@ -19,6 +17,29 @@ eval "$(register-python-argcomplete3 colcon)"
|
||||
mkdir -p ~/ros2_ws/src
|
||||
```
|
||||
|
||||
### 二进制安装
|
||||
|
||||
#### Linux 二进制包安装
|
||||
|
||||
查看软件包：
|
||||
|
||||
```bash
|
||||
sudo apt update
|
||||
apt list | grep orbbec
|
||||
```
|
||||
|
||||
安装 OrbbecSDK ROS2 包：
|
||||
|
||||
```bash
|
||||
sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
|
||||
```
|
||||
|
||||
安装完成后，直接使用即可，无需编译。
|
||||
|
||||
---
|
||||
|
||||
### 从源码构建
|
||||
|
||||
#### Linux ROS2 包装器编译
|
||||
|
||||
克隆源代码并切换到 `v2-main` 分支：
|
||||
@@ -36,15 +57,8 @@ git checkout v2-main
|
||||
sudo apt install libgflags-dev nlohmann-json3-dev \
|
||||
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
|
||||
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
|
||||
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
|
||||
ros-$ROS_DISTRO-backward-ros libdw-dev
|
||||
```
|
||||
|
||||
可选依赖项：
|
||||
|
||||
```bash
|
||||
# 435Le writeCustomerDate 功能：
|
||||
sudo apt install libssl-dev
|
||||
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \
|
||||
ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev
|
||||
```
|
||||
|
||||
构建：
|
||||
@@ -53,4 +67,3 @@ sudo apt install libssl-dev
|
||||
cd ~/ros2_ws
|
||||
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
|
||||
```
|
||||
|
||||
|
||||
@@ -1,6 +1,15 @@
|
||||
## 注册脚本（必需）
|
||||
|
||||
为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则：
|
||||
为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则。
|
||||
|
||||
### 二进制安装
|
||||
|
||||
```bash
|
||||
sudo cp /opt/ros/$ROS_DISTRO/share/orbbec_camera/udev/99-obsensor-libusb.rules /etc/udev/rules.d/
|
||||
sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||
```
|
||||
|
||||
### 从源码构建
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
|
||||
@@ -11,4 +20,3 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
|
||||
此步骤对于 Linux 用户是**必需的**。
|
||||
|
||||
`注意：` 如果不执行此脚本，由于权限问题，打开设备将会失败。您需要使用 sudo（管理员权限）运行示例程序。
|
||||
|
||||
|
||||
@@ -6,6 +6,18 @@
|
||||
|
||||
|
||||
|
||||
### 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。
|
||||
|
||||
可以使用以下命令查看相机的URDF模型和坐标系结构：
|
||||
|
||||
```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：
|
||||
|
||||
@@ -33,6 +33,14 @@
|
||||
* 启用无效点云过滤。
|
||||
* **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`**
|
||||
* ROS 2消息服务质量（QoS）设置。可能的值为 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`、`SENSOR_DATA`，不区分大小写。这些分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters` 和 `SENSOR_DATA`。
|
||||
* **`color.image_raw.enable_pub_plugins`**
|
||||
* 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
|
||||
* **`depth.image_raw.enable_pub_plugins`**
|
||||
* 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。
|
||||
* **`left_ir.image_raw.enable_pub_plugins`**
|
||||
* 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
|
||||
* **`right_ir.image_raw.enable_pub_plugins`**
|
||||
* 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
|
||||
|
||||
### 传感器控制
|
||||
|
||||
@@ -67,7 +75,6 @@
|
||||
|
||||
#### 深度流
|
||||
* **`enable_depth_auto_exposure_priority`**
|
||||
|
||||
* 启用深度自动曝光优先级。
|
||||
* **`mean_intensity_set_point`**
|
||||
* 设置深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。
|
||||
@@ -124,16 +131,12 @@
|
||||
* 设置网络设备的IP地址和端口（通常为 `8090`）。
|
||||
* **`force_ip_enable`**
|
||||
* 启用强制IP功能。**默认值：** `false`
|
||||
|
||||
* **`force_ip_mac`**
|
||||
* 连接多个相机时的目标设备MAC地址（例如，`"54:14:FD:06:07:DA"`）。您可以使用 `list_devices_node` 查找每个设备的MAC。**默认值：** `""`
|
||||
|
||||
* **`force_ip_address`**
|
||||
* 要分配的静态IP地址。**默认值：** `192.168.1.10`
|
||||
|
||||
* **`force_ip_subnet_mask`**
|
||||
* 静态IP的子网掩码。**默认值：** `255.255.255.0`
|
||||
|
||||
* **`force_ip_gateway`**
|
||||
* 静态IP的网关地址。**默认值：** `192.168.1.1`
|
||||
|
||||
|
||||
@@ -68,7 +68,7 @@
|
||||
|
||||
#### 红外流
|
||||
* `/camera/toggle_ir`
|
||||
|
||||
|
||||
```bash
|
||||
ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
@@ -114,6 +114,10 @@
|
||||
```bash
|
||||
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
`/camera/get_laser_status`
|
||||
```bash
|
||||
ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
|
||||
```
|
||||
* `/camera/set_ldp_enable` & `/camera/get_ldp_status`
|
||||
```bash
|
||||
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
|
||||
|
||||
+21
-12
@@ -60,12 +60,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -150,15 +158,16 @@
|
||||
</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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -380,7 +389,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+37
-19
@@ -62,12 +62,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -152,15 +160,16 @@
|
||||
</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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
</ul>
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -440,9 +457,10 @@
|
||||
</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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. 压缩图像</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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
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|
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<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
</ul>
|
||||
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|
||||
</ul>
|
||||
@@ -388,7 +397,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -693,7 +702,7 @@ thead th {
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
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|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
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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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
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<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11月19日 07:20:27.
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<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
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@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
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</ul>
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</ul>
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@@ -402,7 +411,7 @@
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|
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<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
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<span class="lastupdated">最后更新于 2025年11月19日 07:20:27.
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<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>2.1. 从源码构建 — OrbbecSDK V2 ROS2 封装 文档</title>
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<title>2.1. 环境配置 — OrbbecSDK V2 ROS2 封装 文档</title>
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<script src="../../_static/js/theme.js"></script>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="installation.html">2. 安装</a><ul class="current">
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<li class="toctree-l2 current"><a class="current reference internal" href="#">2.1. 从源码构建</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#id2">2.1.1. 环境配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">2.1. 环境配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="#id2">2.2. 二进制安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#linux">2.2.1. Linux 二进制包安装</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="#id3">2.3. 从源码构建</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#linux-ros2">2.3.1. Linux ROS2 包装器编译</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="registration_script.html">2.4. 注册脚本（必需）</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="registration_script.html#id2">2.4.1. 二进制安装</a></li>
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<li class="toctree-l3"><a class="reference internal" href="registration_script.html#id3">2.4.2. 从源码构建</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="registration_script.html">2.2. 注册脚本（必需）</a></li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
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@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
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||||
</ul>
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</li>
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</ul>
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@@ -359,7 +368,7 @@
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<ul class="wy-breadcrumbs">
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="installation.html"><span class="section-number">2. </span>安装</a></li>
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<li class="breadcrumb-item active"><span class="section-number">2.1. </span>从源码构建</li>
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<a href="../../_sources/source/2_installation/build_the_package.md.txt" rel="nofollow"> 查看页面源码</a>
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@@ -370,9 +379,7 @@
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<div itemprop="articleBody">
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
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<h1><span class="section-number">2.1. </span>从源码构建<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<section id="id2">
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<h2><span class="section-number">2.1.1. </span>环境配置<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
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<h1><span class="section-number">2.1. </span>环境配置<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>根据官方指南安装 ROS 2：</p>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html">ROS 2 安装指南（Ubuntu）</a></p></li>
|
||||
@@ -387,8 +394,27 @@
|
||||
</pre></div>
|
||||
</div>
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||||
</section>
|
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<section id="id2">
|
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<h1><span class="section-number">2.2. </span>二进制安装<a class="headerlink" href="#id2" title="Link to this heading"></a></h1>
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||||
<section id="linux">
|
||||
<h2><span class="section-number">2.2.1. </span>Linux 二进制包安装<a class="headerlink" href="#linux" title="Link to this heading"></a></h2>
|
||||
<p>查看软件包：</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>update
|
||||
apt<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>orbbec
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>安装 OrbbecSDK ROS2 包：</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-orbbec-camera<span class="w"> </span>ros-humble-orbbec-description
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>安装完成后，直接使用即可，无需编译。</p>
|
||||
</section>
|
||||
</section>
|
||||
<hr class="docutils" />
|
||||
<section id="id3">
|
||||
<h1><span class="section-number">2.3. </span>从源码构建<a class="headerlink" href="#id3" title="Link to this heading"></a></h1>
|
||||
<section id="linux-ros2">
|
||||
<h2><span class="section-number">2.1.2. </span>Linux ROS2 包装器编译<a class="headerlink" href="#linux-ros2" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">2.3.1. </span>Linux ROS2 包装器编译<a class="headerlink" href="#linux-ros2" title="Link to this heading"></a></h2>
|
||||
<p>克隆源代码并切换到 <code class="docutils literal notranslate"><span class="pre">v2-main</span></code> 分支：</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src
|
||||
git<span class="w"> </span>clone<span class="w"> </span>https://github.com/orbbec/OrbbecSDK_ROS2.git
|
||||
@@ -400,13 +426,8 @@ git<span class="w"> </span>checkout<span class="w"> </span>v2-main
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-image-transport-plugins<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-compressed-image-transport<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-camera-info-manager<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>可选依赖项：</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 435Le writeCustomerDate 功能：</span>
|
||||
sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libssl-dev
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-xacro<span class="w"> </span><span class="se">\</span>
|
||||
ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev<span class="w"> </span>libssl-dev
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>构建：</p>
|
||||
@@ -422,14 +443,14 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
|
||||
<a href="installation.html" class="btn btn-neutral float-left" title="2. 安装" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
|
||||
<a href="registration_script.html" class="btn btn-neutral float-right" title="2.2. 注册脚本（必需）" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
<a href="registration_script.html" class="btn btn-neutral float-right" title="2.4. 注册脚本（必需）" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -22,7 +22,7 @@
|
||||
<script src="../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="索引" href="../../genindex.html" />
|
||||
<link rel="search" title="搜索" href="../../search.html" />
|
||||
<link rel="next" title="2.1. 从源码构建" href="build_the_package.html" />
|
||||
<link rel="next" title="2.1. 环境配置" href="build_the_package.html" />
|
||||
<link rel="prev" title="1.2. Orbbec SDK 概述" href="../1_overview/orbbecsdk_overview.html" />
|
||||
</head>
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -373,12 +382,20 @@
|
||||
<p>本章节说明如何安装 Orbbec ROS2 Python SDK，包括从源码构建、安装依赖项以及使用注册脚本。</p>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
@@ -388,14 +405,14 @@
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
|
||||
<a href="../1_overview/orbbecsdk_overview.html" class="btn btn-neutral float-left" title="1.2. Orbbec SDK 概述" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
|
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<a href="build_the_package.html" class="btn btn-neutral float-right" title="2.1. 从源码构建" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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<a href="build_the_package.html" class="btn btn-neutral float-right" title="2.1. 环境配置" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>2.2. 注册脚本（必需） — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<title>2.4. 注册脚本（必需） — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
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<link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
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@@ -23,7 +23,7 @@
|
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<link rel="index" title="索引" href="../../genindex.html" />
|
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<link rel="search" title="搜索" href="../../search.html" />
|
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<link rel="next" title="3. 快速开始" href="../3_quickstarts/quickstarts.html" />
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|
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</head>
|
||||
|
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<body class="wy-body-for-nav">
|
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@@ -63,12 +63,20 @@
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</ul>
|
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</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="installation.html">2. 安装</a><ul class="current">
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html">2.1. 环境配置</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -359,7 +368,7 @@
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="installation.html"><span class="section-number">2. </span>安装</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">2.2. </span>注册脚本（必需）</li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">2.4. </span>注册脚本（必需）</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../_sources/source/2_installation/registration_script.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
@@ -370,8 +379,17 @@
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
|
||||
<h1><span class="section-number">2.2. </span>注册脚本（必需）<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则：</p>
|
||||
<h1><span class="section-number">2.4. </span>注册脚本（必需）<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则。</p>
|
||||
<section id="id2">
|
||||
<h2><span class="section-number">2.4.1. </span>二进制安装<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>cp<span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/share/orbbec_camera/udev/99-obsensor-libusb.rules<span class="w"> </span>/etc/udev/rules.d/
|
||||
sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&&</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2><span class="section-number">2.4.2. </span>从源码构建<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
|
||||
sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
|
||||
sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&&</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
|
||||
@@ -379,13 +397,14 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
|
||||
</div>
|
||||
<p>此步骤对于 Linux 用户是<strong>必需的</strong>。</p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">注意：</span></code> 如果不执行此脚本，由于权限问题，打开设备将会失败。您需要使用 sudo（管理员权限）运行示例程序。</p>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
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<a href="build_the_package.html" class="btn btn-neutral float-left" title="2.1. 从源码构建" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
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<a href="build_the_package.html" class="btn btn-neutral float-left" title="2.1. 环境配置" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
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<a href="../3_quickstarts/quickstarts.html" class="btn btn-neutral float-right" title="3. 快速开始" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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||||
</div>
|
||||
|
||||
@@ -393,7 +412,7 @@ 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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. 快速开始</a><ul class="current">
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -466,7 +475,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. 快速开始</a><ul class="current">
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -471,7 +480,7 @@ 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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -23,7 +23,7 @@
|
||||
<link rel="index" title="索引" href="../../genindex.html" />
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.3.1. 查看TF树结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
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@@ -153,15 +161,16 @@
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</li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">4.4.2. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.3.1. 查看TF树结构</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</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>
|
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<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>
|
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
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||||
</ul>
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||||
</li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
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<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
|
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<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>
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<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>
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<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>
|
||||
<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>
|
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<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>
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||||
</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
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@@ -427,7 +437,7 @@
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<div role="contentinfo">
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2025年11月19日 07:20:27.
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<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
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</span></p>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</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="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
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@@ -153,15 +161,16 @@
|
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</li>
|
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<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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
|
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<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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -391,7 +400,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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="#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>
|
||||
<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>
|
||||
</ul>
|
||||
</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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id4">4.4.4.2. 函数解析</a></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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -376,8 +385,17 @@
|
||||
<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>可以使用以下命令查看相机的URDF模型和坐标系结构：</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">4.4.2. </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>
|
||||
<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>
|
||||
<ul class="simple">
|
||||
<li><p>视角：</p>
|
||||
<ul>
|
||||
@@ -395,9 +413,9 @@
|
||||
</ul>
|
||||
</section>
|
||||
<section id="ros2-tf">
|
||||
<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>
|
||||
<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>
|
||||
<section id="id2">
|
||||
<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>
|
||||
<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>
|
||||
<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
|
||||
@@ -440,7 +458,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="rviz2tf">
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
@@ -455,9 +473,9 @@
|
||||
</section>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<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>
|
||||
<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>
|
||||
<section id="obcameranode-calcandpublishstatictransform">
|
||||
<h3><span class="section-number">4.4.4.1. </span>核心函数：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.4.5.1. </span>核心函数：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><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>
|
||||
@@ -627,7 +645,7 @@
|
||||
</div>
|
||||
</section>
|
||||
<section id="id4">
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
@@ -723,7 +741,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -444,6 +453,26 @@
|
||||
<li><p>ROS 2消息服务质量（QoS）设置。可能的值为 <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>、<code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>、<code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>，不区分大小写。这些分别对应 <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code> 和 <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||
<ul>
|
||||
<li><p>启用彩色图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||
<ul>
|
||||
<li><p>启用深度图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressedDepth",</span> <span class="pre">"image_transport/raw"]</span></code>。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||
<ul>
|
||||
<li><p>启用左红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
|
||||
<ul>
|
||||
<li><p>启用右红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">["image_transport/compressed",</span> <span class="pre">"image_transport/raw",</span> <span class="pre">"image_transport/theora"]</span></code>。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id3">
|
||||
@@ -1009,7 +1038,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -436,7 +445,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -519,6 +528,10 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_laser_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_laser_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ldp_enable</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_ldp_status</span></code></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ldp_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
||||
@@ -654,7 +667,7 @@ 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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<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>
|
||||
</ul>
|
||||
</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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -501,7 +510,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -476,7 +485,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -420,7 +429,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+21
-12
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -394,7 +403,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -412,7 +421,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -476,7 +485,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -440,7 +449,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -476,7 +485,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -426,7 +435,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -446,7 +455,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -475,7 +484,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -463,7 +472,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+21
-12
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -537,7 +546,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -417,7 +426,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -514,7 +523,7 @@ 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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -575,7 +584,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -408,7 +417,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -401,7 +410,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -504,7 +513,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -415,7 +424,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -438,7 +447,7 @@ 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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -420,7 +429,7 @@ bash<span class="w"> </span>.make_deb.sh
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2025年11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -401,7 +410,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -63,12 +63,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -153,15 +161,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -1217,7 +1226,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
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</div>
|
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||||
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+21
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@@ -62,12 +62,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -152,15 +160,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -434,7 +443,7 @@
|
||||
|
||||
<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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+21
-12
@@ -61,12 +61,20 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="2_installation/installation.html">2. 安装</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html">2.1. 环境配置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
|
||||
@@ -151,15 +159,16 @@
|
||||
</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#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>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id3">4.4.4. 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：OBCameraNode::calcAndPublishStaticTransform()</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>
|
||||
<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：OBCameraNode::calcAndPublishStaticTransform()</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -387,7 +396,7 @@ 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11月19日 07:20:27.
|
||||
<span class="lastupdated">最后更新于 2025年11月28日 12:55:17.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user