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- 4.4.1. Using ROS2 TF Tools
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- 4.3.4. Device Status & Diagnostics
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- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
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Fast DDS Optimization for Orbbec Camera with ROS2","5.1.1. Reducing CPU Usage with Orbbec ROS Package","6. Benchmark","6.3. Benchmark Data","6.2. Benchmark Usage","6.1. Introduction","6.4. Other Tools","7.2. Building a Debian Package","7. Developer Guide","7.1. Migrating from main to Open-Source v2-main","8. 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- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools
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-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
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-
- 4.8.1. Enabling Depth Point Cloud
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-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
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-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/1_overview/orbbecsdk_overview.html b/en/source/1_overview/orbbecsdk_overview.html index 040da2ec..fd1413ec 100644 --- a/en/source/1_overview/orbbecsdk_overview.html +++ b/en/source/1_overview/orbbecsdk_overview.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools
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-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
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-
- 4.8.1. Enabling Depth Point Cloud
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-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
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-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/1_overview/overview.html b/en/source/1_overview/overview.html index e6d86450..318ed5be 100644 --- a/en/source/1_overview/overview.html +++ b/en/source/1_overview/overview.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
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-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/2_installation/build_the_package.html b/en/source/2_installation/build_the_package.html index 2104aeb8..397f7216 100644 --- a/en/source/2_installation/build_the_package.html +++ b/en/source/2_installation/build_the_package.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools
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-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
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-
- 4.8.1. Enabling Depth Point Cloud
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-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
diff --git a/en/source/2_installation/installation.html b/en/source/2_installation/installation.html index 8d779ad7..81d8f496 100644 --- a/en/source/2_installation/installation.html +++ b/en/source/2_installation/installation.html @@ -150,31 +150,31 @@- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/2_installation/registration_script.html b/en/source/2_installation/registration_script.html index 01122332..b7519889 100644 --- a/en/source/2_installation/registration_script.html +++ b/en/source/2_installation/registration_script.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
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-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
diff --git a/en/source/3_quickstarts/orbbecviewer.html b/en/source/3_quickstarts/orbbecviewer.html index 61e7501a..bc6a63ea 100644 --- a/en/source/3_quickstarts/orbbecviewer.html +++ b/en/source/3_quickstarts/orbbecviewer.html @@ -150,31 +150,31 @@- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
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-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/3_quickstarts/quickstart.html b/en/source/3_quickstarts/quickstart.html index ec4b43b5..4d3fa20c 100644 --- a/en/source/3_quickstarts/quickstart.html +++ b/en/source/3_quickstarts/quickstart.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools
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-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
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-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/3_quickstarts/quickstarts.html b/en/source/3_quickstarts/quickstarts.html index 9dbaad67..7fb9564b 100644 --- a/en/source/3_quickstarts/quickstarts.html +++ b/en/source/3_quickstarts/quickstarts.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools
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-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/4_application_guide/application_guide.html b/en/source/4_application_guide/application_guide.html index 0c8edd56..2b9aa29c 100644 --- a/en/source/4_application_guide/application_guide.html +++ b/en/source/4_application_guide/application_guide.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools
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-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
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+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud @@ -388,17 +388,17 @@
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
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-
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
diff --git a/en/source/4_application_guide/camera_sensor_structure.html b/en/source/4_application_guide/camera_sensor_structure.html deleted file mode 100644 index 748dbf1f..00000000 --- a/en/source/4_application_guide/camera_sensor_structure.html +++ /dev/null @@ -1,398 +0,0 @@ - - - - - - - - -© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
4.5. Camera sensor structure — OrbbecSDK V2 ROS2 Wrapper documentation - - - - - - - - - - - - - - - - - - - -- - -- - - - \ No newline at end of file diff --git a/en/source/4_application_guide/compressed_image.html b/en/source/4_application_guide/compressed_image.html index 07d38d72..985f1ae3 100644 --- a/en/source/4_application_guide/compressed_image.html +++ b/en/source/4_application_guide/compressed_image.html @@ -6,7 +6,7 @@ -- - ---- --- -- -4.7. Compressed Image — OrbbecSDK V2 ROS2 Wrapper documentation +4.5. Compressed Image — OrbbecSDK V2 ROS2 Wrapper documentation @@ -21,8 +21,8 @@ - - + + @@ -150,31 +150,31 @@ - 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
- - + @@ -360,7 +360,7 @@
- +4.7. Compressed Image
+4.5. Compressed Image
You can use
image_transportto compress the image usingjpeg. Below is an example of how to use it:To access the compressed color image, you can use the following command:
ros2 topic echo /camera/color/image_raw/compressed --no-arr @@ -373,15 +373,15 @@
+ +4.4.3. Camera sensor structure
+
+
++ @@ -684,14 +700,14 @@4.4.4. TF from coordinate A to coordinate B:
+In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
+Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
+Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
+Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
+++ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro +
+
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/4_application_guide/point_cloud.html b/en/source/4_application_guide/point_cloud.html index 0061ab1f..8ddfc0d9 100644 --- a/en/source/4_application_guide/point_cloud.html +++ b/en/source/4_application_guide/point_cloud.html @@ -6,7 +6,7 @@ -© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
4.8. Enabling and Visualizing Point Cloud in ROS 2 — OrbbecSDK V2 ROS2 Wrapper documentation +4.6. Enabling and Visualizing Point Cloud in ROS 2 — OrbbecSDK V2 ROS2 Wrapper documentation @@ -22,7 +22,7 @@ - + @@ -150,31 +150,31 @@ - 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud @@ -349,7 +349,7 @@ -
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/4_application_guide/tf_transformations.html b/en/source/4_application_guide/tf_transformations.html deleted file mode 100644 index 8dc63a78..00000000 --- a/en/source/4_application_guide/tf_transformations.html +++ /dev/null @@ -1,404 +0,0 @@ - - - - - - - - -© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
4.6. TF from coordinate A to coordinate B: — OrbbecSDK V2 ROS2 Wrapper documentation - - - - - - - - - - - - - - - - - - - -- - -- - - - \ No newline at end of file diff --git a/en/source/4_application_guide/topics.html b/en/source/4_application_guide/topics.html index 76f086b3..482abbf8 100644 --- a/en/source/4_application_guide/topics.html +++ b/en/source/4_application_guide/topics.html @@ -21,7 +21,7 @@ - + @@ -150,31 +150,31 @@- - ---- ---- -- --- - - -4.6. TF from coordinate A to coordinate B:
-In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
-Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
-Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
-Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
---ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro -
-- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud @@ -484,14 +484,14 @@
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud @@ -460,7 +460,7 @@
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html index f5f4e583..4af03f1d 100644 --- a/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html +++ b/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/5_advanced_guide/configuration/depth_work_mode_switch.html b/en/source/5_advanced_guide/configuration/depth_work_mode_switch.html index 40fa7f91..3e7fa9b1 100644 --- a/en/source/5_advanced_guide/configuration/depth_work_mode_switch.html +++ b/en/source/5_advanced_guide/configuration/depth_work_mode_switch.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud @@ -405,7 +405,7 @@ modify it, you can switch to the corresponding mode as needed.
- 4.3.4. Device Status & Diagnostics
diff --git a/en/source/5_advanced_guide/configuration/disparity_search_offset.html b/en/source/5_advanced_guide/configuration/disparity_search_offset.html index 7a2736e7..8801879e 100644 --- a/en/source/5_advanced_guide/configuration/disparity_search_offset.html +++ b/en/source/5_advanced_guide/configuration/disparity_search_offset.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/5_advanced_guide/configuration/interleave_ae_mode.html b/en/source/5_advanced_guide/configuration/interleave_ae_mode.html index c4eaa302..0ecb5774 100644 --- a/en/source/5_advanced_guide/configuration/interleave_ae_mode.html +++ b/en/source/5_advanced_guide/configuration/interleave_ae_mode.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
-
- 4.4.1. Using ROS2 TF Tools
-
-
- 4.4.1.1. View TF Tree Structure -
- 4.4.1.2. Visualize TF Tree in rviz2 +
- 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
-
+
- 4.4.1. Using ROS2 TF Tools -
- 4.4.2. Camera TF Calculation and Publishing Mechanism -
- 4.5. Camera sensor structure -
- 4.6. TF from coordinate A to coordinate B: -
- 4.7. Compressed Image -
- 4.8. Enabling and Visualizing Point Cloud in ROS 2
-
-
- 4.8.1. Enabling Depth Point Cloud
-
-
- 4.8.1.1. Command to Enable Depth Point Cloud -
- 4.8.1.2. Visualizing Depth Point Cloud in RViz2 +
- 4.5. Compressed Image +
- 4.6. Enabling and Visualizing Point Cloud in ROS 2
-
+
- 4.6.1. Enabling Depth Point Cloud -
- 4.8.2. Enabling Colored Point Cloud
-
-
- 4.8.2.1. Command to Enable Colored Point Cloud -
- 4.8.2.2. Visualizing Colored Point Cloud in RViz2 +
- 4.6.2. Enabling Colored Point Cloud
diff --git a/en/source/5_advanced_guide/configuration/net_camera.html b/en/source/5_advanced_guide/configuration/net_camera.html index a137432e..fb9b70fb 100644 --- a/en/source/5_advanced_guide/configuration/net_camera.html +++ b/en/source/5_advanced_guide/configuration/net_camera.html @@ -150,31 +150,31 @@© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-29 02:21:32. + Last updated on 2025-10-29 02:39:33.
- 4.3.4. Device Status & Diagnostics
- - 4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud
- 4.4.1. Using ROS2 TF Tools
- 4.8.1. Enabling Depth Point Cloud