i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

deploy: cd2decdd73

Browse Source
This commit is contained in:
ob-yalian
2025-10-29 02:39:39 +00:00
parent ac354bacb3
commit 85de221b5a
114 changed files with 1736 additions and 3310 deletions
Download Patch File Download Diff File Expand all files Collapse all files
en/_sources/source/4_application_guide/application_guide.rst.txt
+1 -3
View File
@@ -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
-5
View File
@@ -1,5 +0,0 @@
### 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
+22
View File
@@ -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
-15
View File
@@ -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)