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en/_sources/source/2_installation/build_the_package.md.txt
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### Binary Installation
#### Environment
Install ROS 2 according to the official guide:
* [ROS 2 installation (Ubuntu)](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
#### Linux Binary Package Installation
Check available packages:
```bash
sudo apt update
apt list | grep orbbec
```
Install OrbbecSDK ROS2 package:
```bash
sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
```
After installation, you can use it directly without compilation.
---
### Build from Source ### Build from Source
#### Environment #### Environment
@@ -36,15 +63,8 @@ Install dependencies:
sudo apt install libgflags-dev nlohmann-json3-dev \ 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-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-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \
ros-$ROS_DISTRO-backward-ros libdw-dev ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev
```
Optional dependencies:
```bash
# 435Le writeCustomerDate feature:
sudo apt install libssl-dev
``` ```
Build: Build:
en/_sources/source/2_installation/registration_script.md.txt
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## Registration script (required) ## Registration Script (Required)
To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules: To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules.
### Binary Installation
```bash
sudo cp /opt/ros/$ROS_DISTRO/share/orbbec_camera/udev/99-obsensor-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger
```
### Build from Source
```bash ```bash
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
en/_sources/source/4_application_guide/coordinate_and_tf.md.txt
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![module in rviz2](../image/application_guide/image1.png) ![module in rviz2](../image/application_guide/image1.png)
### TF from coordinate A to coordinate B:
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position.
You can view the camera's URDF model and coordinate system structure using the following command:
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![module in rviz2](../image/application_guide/image2.png)
### ROS2 Robot Coordinate System vs Camera Optical Coordinate System ### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
* Point of View: * Point of View:
en/_sources/source/4_application_guide/launch_parameters.md.txt
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@@ -33,6 +33,14 @@ The following are the launch parameters available:
* Enable filtering of invalid point clouds. * Enable filtering of invalid point clouds.
* **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`** * **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
* ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively. * ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively.
* **`color.image_raw.enable_pub_plugins`**
* Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
* **`depth.image_raw.enable_pub_plugins`**
* Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
* **`left_ir.image_raw.enable_pub_plugins`**
* Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
* **`right_ir.image_raw.enable_pub_plugins`**
* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
### Sensor Controls ### Sensor Controls
en/_sources/source/4_application_guide/services.md.txt
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@@ -114,6 +114,10 @@
```bash ```bash
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}' 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` * `/camera/set_ldp_enable` & `/camera/get_ldp_status`
```bash ```bash
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}' ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
en/genindex.html
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -149,15 +158,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -379,7 +389,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/index.html
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -151,15 +160,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -387,12 +397,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -439,9 +458,10 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -401,7 +411,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/2_installation/build_the_package.html
+54 -25
View File
@@ -6,7 +6,7 @@
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" /> <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" /> <meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>2.1. Build from Source &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title> <title>2.1. Binary Installation &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
<link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" /> <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
<link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" /> <link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
<link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" /> <link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
@@ -21,7 +21,7 @@
<script src="../../_static/js/theme.js"></script> <script src="../../_static/js/theme.js"></script>
<link rel="index" title="Index" href="../../genindex.html" /> <link rel="index" title="Index" href="../../genindex.html" />
<link rel="search" title="Search" href="../../search.html" /> <link rel="search" title="Search" href="../../search.html" />
<link rel="next" title="2.2. Registration script (required)" href="registration_script.html" /> <link rel="next" title="2.3. Registration Script (Required)" href="registration_script.html" />
<link rel="prev" title="2. Installation" href="installation.html" /> <link rel="prev" title="2. Installation" href="installation.html" />
</head> </head>
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1 current"><a class="reference internal" href="installation.html">2. Installation</a><ul class="current"> <li class="toctree-l1 current"><a class="reference internal" href="installation.html">2. Installation</a><ul class="current">
<li class="toctree-l2 current"><a class="current reference internal" href="#">2.1. Build from Source</a><ul> <li class="toctree-l2 current"><a class="current reference internal" href="#">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -358,7 +368,7 @@
<ul class="wy-breadcrumbs"> <ul class="wy-breadcrumbs">
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li> <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>Installation</a></li> <li class="breadcrumb-item"><a href="installation.html"><span class="section-number">2. </span>Installation</a></li>
<li class="breadcrumb-item active"><span class="section-number">2.1. </span>Build from Source</li> <li class="breadcrumb-item active"><span class="section-number">2.1. </span>Binary Installation</li>
<li class="wy-breadcrumbs-aside"> <li class="wy-breadcrumbs-aside">
<a href="../../_sources/source/2_installation/build_the_package.md.txt" rel="nofollow"> View page source</a> <a href="../../_sources/source/2_installation/build_the_package.md.txt" rel="nofollow"> View page source</a>
</li> </li>
@@ -368,14 +378,38 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article"> <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody"> <div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</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="build-from-source"> <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</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="binary-installation">
<h1><span class="section-number">2.1. </span>Build from Source<a class="headerlink" href="#build-from-source" title="Link to this heading"></a></h1> <h1><span class="section-number">2.1. </span>Binary Installation<a class="headerlink" href="#binary-installation" title="Link to this heading"></a></h1>
<section id="environment"> <section id="environment">
<h2><span class="section-number">2.1.1. </span>Environment<a class="headerlink" href="#environment" title="Link to this heading"></a></h2> <h2><span class="section-number">2.1.1. </span>Environment<a class="headerlink" href="#environment" title="Link to this heading"></a></h2>
<p>Install ROS 2 according to the official guide:</p> <p>Install ROS 2 according to the official guide:</p>
<ul class="simple"> <ul class="simple">
<li><p><a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html">ROS 2 installation (Ubuntu)</a></p></li> <li><p><a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html">ROS 2 installation (Ubuntu)</a></p></li>
</ul> </ul>
</section>
<section id="linux-binary-package-installation">
<h2><span class="section-number">2.1.2. </span>Linux Binary Package Installation<a class="headerlink" href="#linux-binary-package-installation" title="Link to this heading"></a></h2>
<p>Check available packages:</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>Install OrbbecSDK ROS2 package:</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>After installation, you can use it directly without compilation.</p>
</section>
</section>
<hr class="docutils" />
<section id="build-from-source">
<h1><span class="section-number">2.2. </span>Build from Source<a class="headerlink" href="#build-from-source" title="Link to this heading"></a></h1>
<section id="id1">
<h2><span class="section-number">2.2.1. </span>Environment<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<p>Install ROS 2 according to the official guide:</p>
<ul class="simple">
<li><p><a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html">ROS 2 installation (Ubuntu)</a></p></li>
</ul>
<p>Enable ROS 2 auto-completion:</p> <p>Enable ROS 2 auto-completion:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">eval</span><span class="w"> </span><span class="s2">&quot;</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>ros2<span class="k">)</span><span class="s2">&quot;</span> <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">eval</span><span class="w"> </span><span class="s2">&quot;</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>ros2<span class="k">)</span><span class="s2">&quot;</span>
<span class="nb">eval</span><span class="w"> </span><span class="s2">&quot;</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>colcon<span class="k">)</span><span class="s2">&quot;</span> <span class="nb">eval</span><span class="w"> </span><span class="s2">&quot;</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>colcon<span class="k">)</span><span class="s2">&quot;</span>
@@ -387,7 +421,7 @@
</div> </div>
</section> </section>
<section id="linux-ros2-wrapper-compilation"> <section id="linux-ros2-wrapper-compilation">
<h2><span class="section-number">2.1.2. </span>Linux ROS2 Wrapper Compilation<a class="headerlink" href="#linux-ros2-wrapper-compilation" title="Link to this heading"></a></h2> <h2><span class="section-number">2.2.2. </span>Linux ROS2 Wrapper Compilation<a class="headerlink" href="#linux-ros2-wrapper-compilation" title="Link to this heading"></a></h2>
<p>Clone source and checkout <code class="docutils literal notranslate"><span class="pre">v2-main</span></code> branch:</p> <p>Clone source and checkout <code class="docutils literal notranslate"><span class="pre">v2-main</span></code> branch:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src <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 git<span class="w"> </span>clone<span class="w"> </span>https://github.com/orbbec/OrbbecSDK_ROS2.git
@@ -399,13 +433,8 @@ 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> <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-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">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$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>-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 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>Optional dependencies:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 435Le writeCustomerDate feature:</span>
sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libssl-dev
</pre></div> </pre></div>
</div> </div>
<p>Build:</p> <p>Build:</p>
@@ -421,14 +450,14 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
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+35 -16
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@@ -62,12 +62,21 @@
</ul> </ul>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">2. Installation</a><ul> <li class="toctree-l1 current"><a class="current reference internal" href="#">2. Installation</a><ul>
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</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
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</ul>
</li>
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<li class="toctree-l3"><a class="reference internal" href="registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -372,12 +382,21 @@
<p>This chapter explains how to install the Orbbec ROS2 Python SDK, including building from source, installing dependencies, and using registration scripts.</p> <p>This chapter explains how to install the Orbbec ROS2 Python SDK, including building from source, installing dependencies, and using registration scripts.</p>
<div class="toctree-wrapper compound"> <div class="toctree-wrapper compound">
<ul> <ul>
<li class="toctree-l1"><a class="reference internal" href="build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l1"><a class="reference internal" href="build_the_package.html">2.1. Binary Installation</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l2"><a class="reference internal" href="build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l2"><a class="reference internal" href="registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l2"><a class="reference internal" href="registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
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@@ -387,14 +406,14 @@
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+37 -17
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@@ -6,7 +6,7 @@
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</ul>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">2.3. Registration Script (Required)</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#build-from-source">2.3.2. Build from Source</a></li>
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@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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@@ -358,7 +368,7 @@
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<li class="breadcrumb-item active"><span class="section-number">2.2. </span>Registration script (required)</li> <li class="breadcrumb-item active"><span class="section-number">2.3. </span>Registration Script (Required)</li>
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<a href="../../_sources/source/2_installation/registration_script.md.txt" rel="nofollow"> View page source</a> <a href="../../_sources/source/2_installation/registration_script.md.txt" rel="nofollow"> View page source</a>
</li> </li>
@@ -369,8 +379,17 @@
<div itemprop="articleBody"> <div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</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="registration-script-required"> <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</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="registration-script-required">
<h1><span class="section-number">2.2. </span>Registration script (required)<a class="headerlink" href="#registration-script-required" title="Link to this heading"></a></h1> <h1><span class="section-number">2.3. </span>Registration Script (Required)<a class="headerlink" href="#registration-script-required" title="Link to this heading"></a></h1>
<p>To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules:</p> <p>To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules.</p>
<section id="binary-installation">
<h2><span class="section-number">2.3.1. </span>Binary Installation<a class="headerlink" href="#binary-installation" 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">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
</pre></div>
</div>
</section>
<section id="build-from-source">
<h2><span class="section-number">2.3.2. </span>Build from Source<a class="headerlink" href="#build-from-source" 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 <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>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">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
@@ -378,13 +397,14 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
</div> </div>
<p>This step is <strong>mandatory</strong> for Linux users.</p> <p>This step is <strong>mandatory</strong> for Linux users.</p>
<p><code class="docutils literal notranslate"><span class="pre">Notes:</span></code> If this script is not executed, open the device will fail due to permission issues. You need to run the sample with sudo (administrator privileges).</p> <p><code class="docutils literal notranslate"><span class="pre">Notes:</span></code> If this script is not executed, open the device will fail due to permission issues. You need to run the sample with sudo (administrator privileges).</p>
</section>
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@@ -392,7 +412,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
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en/source/3_quickstarts/orbbecviewer.html
+21 -11
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@@ -62,12 +62,21 @@
</ul> </ul>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
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@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
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@@ -465,7 +475,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/3_quickstarts/quickstart.html
+21 -11
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@@ -62,12 +62,21 @@
</ul> </ul>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current"> <li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current">
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -470,7 +480,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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+23 -13
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@@ -22,7 +22,7 @@
<link rel="index" title="Index" href="../../genindex.html" /> <link rel="index" title="Index" href="../../genindex.html" />
<link rel="search" title="Search" href="../../search.html" /> <link rel="search" title="Search" href="../../search.html" />
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@@ -62,12 +62,21 @@
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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@@ -152,15 +161,16 @@
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
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@@ -399,9 +409,10 @@
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@@ -426,7 +437,7 @@
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@@ -152,15 +161,16 @@
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
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@@ -390,7 +400,7 @@
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@@ -152,15 +161,16 @@
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<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -375,8 +385,17 @@
<p><img alt="module in rviz2" src="../../_images/image3.png" /></p> <p><img alt="module in rviz2" src="../../_images/image3.png" /></p>
<p><img alt="module in rviz2" src="../../_images/image1.png" /></p> <p><img alt="module in rviz2" src="../../_images/image1.png" /></p>
</section> </section>
<section id="tf-from-coordinate-a-to-coordinate-b">
<h2><span class="section-number">4.4.2. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h2>
<p>In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position.</p>
<p>You can view the camera’s URDF model and coordinate system structure using the following command:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
</pre></div>
</div>
<p><img alt="module in rviz2" src="../../_images/image2.png" /></p>
</section>
<section id="ros2-robot-coordinate-system-vs-camera-optical-coordinate-system"> <section id="ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">
<h2><span class="section-number">4.4.2. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h2> <h2><span class="section-number">4.4.3. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h2>
<ul class="simple"> <ul class="simple">
<li><p>Point of View:</p> <li><p>Point of View:</p>
<ul> <ul>
@@ -394,9 +413,9 @@
</ul> </ul>
</section> </section>
<section id="using-ros2-tf-tools"> <section id="using-ros2-tf-tools">
<h2><span class="section-number">4.4.3. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2> <h2><span class="section-number">4.4.4. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2>
<section id="view-tf-tree-structure"> <section id="view-tf-tree-structure">
<h3><span class="section-number">4.4.3.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3> <h3><span class="section-number">4.4.4.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3>
<p>Use the following ROS2 commands to print and visualize the TF tree published by the camera package:</p> <p>Use the following ROS2 commands to print and visualize the TF tree published by the camera package:</p>
<p><strong>Print all TF relationships:</strong></p> <p><strong>Print all TF relationships:</strong></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames <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
@@ -439,7 +458,7 @@
</div> </div>
</section> </section>
<section id="visualize-tf-tree-in-rviz2"> <section id="visualize-tf-tree-in-rviz2">
<h3><span class="section-number">4.4.3.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3> <h3><span class="section-number">4.4.4.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3>
<p>Use rviz2 to visualize the TF tree and relative frame poses in real time:</p> <p>Use rviz2 to visualize the TF tree and relative frame poses in real time:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
</pre></div> </pre></div>
@@ -454,9 +473,9 @@
</section> </section>
</section> </section>
<section id="camera-tf-calculation-and-publishing-mechanism"> <section id="camera-tf-calculation-and-publishing-mechanism">
<h2><span class="section-number">4.4.4. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2> <h2><span class="section-number">4.4.5. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2>
<section id="core-function-obcameranode-calcandpublishstatictransform"> <section id="core-function-obcameranode-calcandpublishstatictransform">
<h3><span class="section-number">4.4.4.1. </span>Core Function: <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="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3> <h3><span class="section-number">4.4.5.1. </span>Core Function: <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="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
<p>The camera node uses this function to calculate and publish all static transforms between sensors.</p> <p>The camera node uses this function to calculate and publish all static transforms between sensors.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">OBCameraNode::calcAndPublishStaticTransform</span><span class="p">()</span><span class="w"> </span><span class="p">{</span> <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> <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>
@@ -626,7 +645,7 @@
</div> </div>
</section> </section>
<section id="function-breakdown"> <section id="function-breakdown">
<h3><span class="section-number">4.4.4.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3> <h3><span class="section-number">4.4.5.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3>
<p>Detailed explanation of the code:</p> <p>Detailed explanation of the code:</p>
<p><strong>Quaternion Initialization and Coordinate Transform</strong></p> <p><strong>Quaternion Initialization and Coordinate Transform</strong></p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span> <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>
@@ -708,7 +727,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/4_application_guide/launch_parameters.html
+41 -11
View File
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -443,6 +453,26 @@
<li><p>ROS 2 Message Quality of Service (QoS) settings. The possible values are <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> and are case-insensitive. These correspond to <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>, and <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>, respectively.</p></li> <li><p>ROS 2 Message Quality of Service (QoS) settings. The possible values are <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> and are case-insensitive. These correspond to <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>, and <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>, respectively.</p></li>
</ul> </ul>
</li> </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>Enable Color image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</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>Enable Depth image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</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>Enable Left IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</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>Enable Right IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p></li>
</ul>
</li>
</ul> </ul>
</section> </section>
<section id="sensor-controls"> <section id="sensor-controls">
@@ -1008,7 +1038,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/4_application_guide/point_cloud.html
+21 -11
View File
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
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<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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+25 -11
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@@ -62,12 +62,21 @@
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
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<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<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">&#39;{data: true}&#39;</span> <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">&#39;{data: true}&#39;</span>
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<p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
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<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">&#39;{data: true}&#39;</span> <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">&#39;{data: true}&#39;</span>
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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en/source/4_application_guide/topics.html
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
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<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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@@ -500,7 +510,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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en/source/5_advanced_guide/advanced_guide.html
+21 -11
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@@ -62,12 +62,21 @@
</ul> </ul>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -475,7 +485,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/configuration/align_depth_color.html
+21 -11
View File
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -419,7 +429,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
+21 -11
View File
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -396,7 +406,7 @@ resolutions is as follows:</p>
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/configuration/depth_work_mode_switch.html
+21 -11
View File
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li> </li>
</ul> </ul>
@@ -414,7 +424,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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</ul> </ul>
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<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
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</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li> </li>
</ul> </ul>
@@ -475,7 +485,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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en/source/5_advanced_guide/configuration/interleave_ae_mode.html
+21 -11
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
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</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li> </li>
</ul> </ul>
@@ -439,7 +449,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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en/source/5_advanced_guide/configuration/net_camera.html
+21 -11
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@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li> </li>
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<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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</div> </div>
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -426,7 +436,7 @@ parameter.</p>
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/multi_camera/gmsl_camera.html
+21 -11
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@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -446,7 +456,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/multi_camera/multi_camera.html
+21 -11
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@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -474,7 +484,7 @@ by running the following command:</p></li>
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/multi_camera/multi_camera_synced.html
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@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -462,7 +472,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
+21 -11
View File
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -546,7 +556,7 @@ See <a class="reference internal" href="../performance/fastdds_tuning.html"><spa
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/performance/efficient_intra_process_communication.html
+21 -11
View File
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -416,7 +426,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/performance/fastdds_tuning.html
+21 -11
View File
@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -521,7 +531,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
en/source/5_advanced_guide/performance/lower_cpu_usage.html
+21 -11
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@@ -62,12 +62,21 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li> </li>
</ul> </ul>
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</ul> </ul>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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@@ -407,7 +417,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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@@ -400,7 +410,7 @@
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li> </li>
</ul> </ul>
@@ -414,7 +424,7 @@
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</ul> </ul>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<li class="toctree-l1"><a class="reference internal" href="2_installation/installation.html">2. Installation</a><ul> <li class="toctree-l1"><a class="reference internal" href="2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html">2.1. Build from Source</a><ul> <li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#environment">2.1.1. Environment</a></li> <li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li> <li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="2_installation/registration_script.html">2.2. Registration script (required)</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="3_quickstarts/quickstarts.html">3. Quickstarts</a><ul> <li class="toctree-l1"><a class="reference internal" href="3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -150,15 +159,16 @@
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul> <li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li> <li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li> <li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul> <li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li> <li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li> <li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul> <li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li> <li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -386,7 +396,7 @@ language governing permissions and limitations under the License.</p>
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com.. <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-11-19 07:20:24. <span class="lastupdated">Last updated on 2025-11-28 12:55:13.
</span></p> </span></p>
</div> </div>
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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： 根据官方指南安装 ROS 2：
@@ -19,6 +17,29 @@ eval "$(register-python-argcomplete3 colcon)"
mkdir -p ~/ros2_ws/src mkdir -p ~/ros2_ws/src
``` ```
### 二进制安装
#### Linux 二进制包安装
查看软件包：
```bash
sudo apt update
apt list | grep orbbec
```
安装 OrbbecSDK ROS2 包：
```bash
sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
```
安装完成后，直接使用即可，无需编译。
---
### 从源码构建
#### Linux ROS2 包装器编译 #### Linux ROS2 包装器编译
克隆源代码并切换到 `v2-main` 分支： 克隆源代码并切换到 `v2-main` 分支：
@@ -36,15 +57,8 @@ git checkout v2-main
sudo apt install libgflags-dev nlohmann-json3-dev \ sudo apt install libgflags-dev nlohmann-json3-dev \
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ ros-$ROS_DISTRO-image-transport ros-${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-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \
ros-$ROS_DISTRO-backward-ros libdw-dev ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev
```
可选依赖项：
```bash
# 435Le writeCustomerDate 功能：
sudo apt install libssl-dev
``` ```
构建： 构建：
@@ -53,4 +67,3 @@ sudo apt install libssl-dev
cd ~/ros2_ws cd ~/ros2_ws
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
``` ```
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## 注册脚本（必需） ## 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 ```bash
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts 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**。 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。 `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。
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![module in rviz2](../image/application_guide/image1.png) ![module in rviz2](../image/application_guide/image1.png)
### 从坐标系A到坐标系B的TF变换：
在Orbbec相机中，原点（0,0,0）取自camera_link位置。
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
```
![rviz2中的模块](../image/application_guide/image2.png)
### ROS2机器人坐标系 vs 相机光学坐标系 ### ROS2机器人坐标系 vs 相机光学坐标系
* 视角： * 视角：
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@@ -33,6 +33,14 @@
* 启用无效点云过滤。 * 启用无效点云过滤。
* **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`** * **`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`。 * 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 ### 传感器控制
@@ -67,7 +75,6 @@
#### 深度流 #### 深度流
* **`enable_depth_auto_exposure_priority`** * **`enable_depth_auto_exposure_priority`**
* 启用深度自动曝光优先级。 * 启用深度自动曝光优先级。
* **`mean_intensity_set_point`** * **`mean_intensity_set_point`**
* 设置深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。 * 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`）。 * 设置网络设备的IP地址和端口（通常为 `8090`）。
* **`force_ip_enable`** * **`force_ip_enable`**
* 启用强制IP功能。**默认值：** `false` * 启用强制IP功能。**默认值：** `false`
* **`force_ip_mac`** * **`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：** `""` * 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`** * **`force_ip_address`**
* 要分配的静态IP地址。**默认值：** `192.168.1.10` * 要分配的静态IP地址。**默认值：** `192.168.1.10`
* **`force_ip_subnet_mask`** * **`force_ip_subnet_mask`**
* 静态IP的子网掩码。**默认值：** `255.255.255.0` * 静态IP的子网掩码。**默认值：** `255.255.255.0`
* **`force_ip_gateway`** * **`force_ip_gateway`**
* 静态IP的网关地址。**默认值：** `192.168.1.1` * 静态IP的网关地址。**默认值：** `192.168.1.1`
zh/_sources/source/4_application_guide/services.md.txt
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```bash ```bash
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}' 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` * `/camera/set_ldp_enable` & `/camera/get_ldp_status`
```bash ```bash
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}' ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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> </ul>
</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </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-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">4.4.4.1. 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#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">4.4.4.2. 函数解析</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> </ul>
</li> </li>
</ul> </ul>
@@ -380,7 +389,7 @@
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 <p>&#169; 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> </span></p>
</div> </div>
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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>
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<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>
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<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>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li> <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#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="source/2_installation/build_the_package.html">2.1. 从源码构建</a><ul> <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-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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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>
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<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>
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<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>
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<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>
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<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
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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-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </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-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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#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">4.4.4.2. 函数解析</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> </ul>
</li> </li>
</ul> </ul>
@@ -359,7 +368,7 @@
<ul class="wy-breadcrumbs"> <ul class="wy-breadcrumbs">
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li> <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"><a href="installation.html"><span class="section-number">2. </span>安装</a></li>
<li class="breadcrumb-item active"><span class="section-number">2.1. </span>从源码构建</li> <li class="breadcrumb-item active"><span class="section-number">2.1. </span>环境配置</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> <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 @@
<div itemprop="articleBody"> <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"> <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">2.1. </span>从源码构建<a class="headerlink" href="#id1" title="Link to this heading"></a></h1> <h1><span class="section-number">2.1. </span>环境配置<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<section id="id2">
<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>
<p>根据官方指南安装 ROS 2：</p> <p>根据官方指南安装 ROS 2：</p>
<ul class="simple"> <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> <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> </pre></div>
</div> </div>
</section> </section>
<section id="id2">
<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>
<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"> <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> <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 <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 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> <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">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</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>-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">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$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">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev<span class="w"> </span>libssl-dev
</pre></div>
</div>
<p>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
</pre></div> </pre></div>
</div> </div>
<p>构建：</p> <p>构建：</p>
@@ -422,14 +443,14 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
</div> </div>
<footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚"> <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 <p>&#169; 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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zh/source/2_installation/installation.html
+35 -18
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@@ -22,7 +22,7 @@
<script src="../../_static/js/theme.js"></script> <script src="../../_static/js/theme.js"></script>
<link rel="index" title="索引" href="../../genindex.html" /> <link rel="index" title="索引" href="../../genindex.html" />
<link rel="search" title="搜索" href="../../search.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" />
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</head> </head>
@@ -63,12 +63,20 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">2. 安装</a><ul> <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-l2"><a class="reference internal" href="build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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> </ul>
</li> </li>
<li class="toctree-l2"><a class="reference internal" href="registration_script.html">2.2. 注册脚本（必需）</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </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-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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#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">4.4.4.2. 函数解析</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> </ul>
</li> </li>
</ul> </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> <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"> <div class="toctree-wrapper compound">
<ul> <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-l1"><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">2.1.1. 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-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#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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="registration_script.html">2.2. 注册脚本（必需）</a></li>
</ul> </ul>
</div> </div>
</section> </section>
@@ -388,14 +405,14 @@
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zh/source/2_installation/registration_script.html
+37 -18
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@@ -6,7 +6,7 @@
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" /> <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>2.2. 注册脚本（必需） &mdash; OrbbecSDK V2 ROS2 封装 文档</title> <title>2.4. 注册脚本（必需） &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
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@@ -63,12 +63,20 @@
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<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-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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<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> </ul>
</li> </li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">2.2. 注册脚本（必需）</a></li>
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@@ -153,15 +161,16 @@
</li> </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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul> <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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
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@@ -359,7 +368,7 @@
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@@ -370,8 +379,17 @@
<div itemprop="articleBody"> <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"> <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> <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> <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">&amp;&amp;</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 <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>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">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</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> </div>
<p>此步骤对于 Linux 用户是<strong>必需的</strong>。</p> <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> <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>
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@@ -393,7 +412,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
<div role="contentinfo"> <div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 <p>&#169; 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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zh/source/3_quickstarts/orbbecviewer.html
+21 -12
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@@ -63,12 +63,20 @@
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</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>
<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> </ul>
</li> </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> </ul>
</li> </li>
<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. 快速开始</a><ul class="current"> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </li>
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@@ -400,9 +409,10 @@
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul> <li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li> <li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#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#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-tf">4.4.3. ROS2 TF工具的使用</a></li> <li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#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#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#ros2-tf">4.4.4. ROS2 TF工具的使用</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a></li>
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li> <li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
@@ -427,7 +437,7 @@
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zh/source/4_application_guide/compressed_image.html
+21 -12
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@@ -63,12 +63,20 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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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<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>
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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>
<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> </ul>
</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </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-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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <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">4.4.4.2. 函数解析</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> </ul>
</li> </li>
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@@ -391,7 +400,7 @@
<div role="contentinfo"> <div role="contentinfo">
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zh/source/4_application_guide/coordinate_and_tf.html
+37 -19
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@@ -63,12 +63,20 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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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<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>
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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>
<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> </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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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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="#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="#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-l4"><a class="reference internal" href="#id2">4.4.3.1. 查看TF树结构</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="#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </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-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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <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">4.4.4.2. 函数解析</a></li> <li class="toctree-l4"><a class="reference internal" href="#id4">4.4.5.2. 函数解析</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@@ -376,8 +385,17 @@
<p><img alt="module in rviz2" src="../../_images/image3.png" /></p> <p><img alt="module in rviz2" src="../../_images/image3.png" /></p>
<p><img alt="module in rviz2" src="../../_images/image1.png" /></p> <p><img alt="module in rviz2" src="../../_images/image1.png" /></p>
</section> </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"> <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"> <ul class="simple">
<li><p>视角：</p> <li><p>视角：</p>
<ul> <ul>
@@ -395,9 +413,9 @@
</ul> </ul>
</section> </section>
<section id="ros2-tf"> <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"> <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>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> <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 <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> </div>
</section> </section>
<section id="rviz2tf"> <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> <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 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
</pre></div> </pre></div>
@@ -455,9 +473,9 @@
</section> </section>
</section> </section>
<section id="id3"> <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"> <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> <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> <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> <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> </div>
</section> </section>
<section id="id4"> <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>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> <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> <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"> <div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 <p>&#169; 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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zh/source/4_application_guide/launch_parameters.html
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</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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>
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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>
</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> </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>
</ul> </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> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </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-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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <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">4.4.4.2. 函数解析</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> </ul>
</li> </li>
</ul> </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> <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> </ul>
</li> </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">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</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">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</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">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</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">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p></li>
</ul>
</li>
</ul> </ul>
</section> </section>
<section id="id3"> <section id="id3">
@@ -1009,7 +1038,7 @@
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zh/source/4_application_guide/point_cloud.html
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</ul> </ul>
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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-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-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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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<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> </ul>
</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </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-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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <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">4.4.4.2. 函数解析</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> </ul>
</li> </li>
</ul> </ul>
@@ -436,7 +445,7 @@
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 <p>&#169; 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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zh/source/4_application_guide/services.html
+25 -12
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@@ -63,12 +63,20 @@
</ul> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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> </ul>
</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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>
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</li> </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-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>
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<p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 <p>&#169; 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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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<li class="toctree-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-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#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="../../2_installation/registration_script.html">2.2. 注册脚本（必需）</a></li>
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@@ -153,15 +161,16 @@
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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-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#id1">4.4.1. 相机传感器结构</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul> <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#id4">4.4.4.2. 函数解析</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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<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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>
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</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul> <li class="toctree-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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#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">4.4.4.2. 函数解析</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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</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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>
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</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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-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-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#id4">4.4.4.2. 函数解析</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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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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</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>
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</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul> <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#id4">4.4.4.2. 函数解析</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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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 <p>&#169; 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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</ul> </ul>
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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-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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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> </ul>
</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul> <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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#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">4.4.4.2. 函数解析</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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<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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>
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</li> </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> </ul>
</li> </li>
<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul> <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#id4">4.4.4.2. 函数解析</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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<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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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<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>
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</li> </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> </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> <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>
<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-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#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#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-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-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul> <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-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<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-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-ros2">2.1.2. Linux ROS2 包装器编译</a></li> <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>
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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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</li>
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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>
<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> </ul>
</li> </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> </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> <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>
<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-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#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#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-tf">4.4.3. ROS2 TF工具的使用</a><ul> <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-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-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#rviz2tf">4.4.3.2. 使用rviz2可视化TF树</a></li> <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> </ul>
</li> </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-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">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li> <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#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">4.4.4.2. 函数解析</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> </ul>
</li> </li>
</ul> </ul>
@@ -446,7 +455,7 @@
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