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ob-yalian
2025-10-29 02:39:39 +00:00
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en/_sources/source/4_application_guide/application_guide.rst.txt
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@@ -9,8 +9,6 @@ This chapter introduces application development with the SDK, including launch p
launch_parameters.md
services.md
topics.md
coordinate_systems.md
camera_sensor_structure.md
tf_transformations.md
coordinate_and_tf.md
compressed_image.md
point_cloud.md
en/_sources/source/4_application_guide/camera_sensor_structure.md.txt
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### Camera sensor structure
![module in rviz2](../image/application_guide/image3.png)
![module in rviz2](../image/application_guide/image1.png)
en/_sources/source/4_application_guide/coordinate_systems.md.txt → en/_sources/source/4_application_guide/coordinate_and_tf.md.txt
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@@ -331,3 +331,25 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
```
- Publishes raw extrinsics via topic for advanced alignment and registration
### Camera sensor structure
![module in rviz2](../image/application_guide/image3.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
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:
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![module in rviz2](../image/application_guide/image2.png)
en/_sources/source/4_application_guide/tf_transformations.md.txt
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@@ -1,15 +0,0 @@
### 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:
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![module in rviz2](../image/application_guide/image2.png)