reorganize documentation tree and supplement with additional guides

docs/source/4_application_guide/application_guide.rst

@@ -9,4 +9,8 @@ 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
+    compressed_image.md
+    point_cloud.md

docs/source/4_application_guide/camera_sensor_structure.md

@@ -0,0 +1,5 @@
+### Camera sensor structure
+
+![module in rviz2](../image/application_guide/image3.png)
+
+![module in rviz2](../image/application_guide/image1.png)

docs/source/4_application_guide/compressed_image.md

@@ -0,0 +1,11 @@
+### Compressed Image
+
+You can use `image_transport` to compress the image using `jpeg`. Below is an example of how to use it:
+
+To access the compressed color image, you can use the following command:
+
+```bash
+ros2 topic echo /camera/color/image_raw/compressed --no-arr
+```
+
+This command will allow you to receive the compressed color image from the specified topic.

docs/source/4_application_guide/coordinate_systems.md

@@ -0,0 +1,13 @@
+### ROS2(Robot) vs Optical(Camera) Coordination Systems
+
+* Point Of View:
+  * Imagine we are standing behind of the camera, and looking forward.
+  * Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..
+
+![ROS2 and Camera Coordinate System](../image/application_guide/image0.png)
+
+* ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)
+* Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
+* All data published in our wrapper topics is optical data taken directly from our camera sensors.
+* static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.
+

docs/source/4_application_guide/launch_parameters.md

@@ -135,7 +135,7 @@ The following are the launch parameters available:
 *   **`frames_per_trigger`**
     *   The frame number of each stream after each trigger in triggering mode. 
 
-> Used for [multi camera synced](../5_advanced_guide/multi_camera_synced.md).
+> Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md).
 
 #### Network Cameras
 *   **`enumerate_net_device`**
@@ -143,19 +143,19 @@ The following are the launch parameters available:
 *   **`net_device_ip`** / **`net_device_port`**
     *   Set net device's IP address and port (Usually `8090`). 
 
-> Used for [net camera](../5_advanced_guide/net_camera.md).
+> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
 
 #### Device-Specific
 *   **`device_preset`**
-    *   The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/predefined_presets.md).
+    *   The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/configuration/predefined_presets.md).
 *   **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
-    *   Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/gmsl_camera.md).
+    *   Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
 
 #### Disparity
 *   **`disparity_to_depth_mode`**
     *   `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
 *   **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
-    *   Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/disparity_search_offset.md).
+    *   Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md).
 
 #### Interleave AE Mode
 *   **`interleave_ae_mode`**
@@ -164,7 +164,7 @@ The following are the launch parameters available:
     *   Parameters to control interleave frame mode.
 *   **`[hdr|laser]_index[0|1]_[...]`**
     *   In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
-*   *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/interleave_ae_mode.md).*
+*   *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
 
 ### Basic & General Parameters
 

docs/source/4_application_guide/point_cloud.md

@@ -0,0 +1,53 @@
+## Enabling and Visualizing Point Cloud in ROS 2
+
+This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.
+
+### Enabling Depth Point Cloud
+
+#### Command to Enable Depth Point Cloud
+
+To activate the point cloud data stream for depth information, use the following command:
+
+```bash
+ros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true
+```
+
+#### Visualizing Depth Point Cloud in RViz2
+
+After running the above command, perform the following steps to visualize the depth point cloud:
+
+1. Open RViz2.
+2. Add a `PointCloud2` display.
+3. Select the `/camera/depth/points` topic for visualization.
+4. Set the fixed frame to `camera_link` to properly align the data.
+
+- **Example Visualization**
+
+Here is what the depth point cloud might look like in RViz2:
+
+![Depth Point Cloud Visualization](../image/point_cloud/image5.jpg)
+
+### Enabling Colored Point Cloud
+
+#### Command to Enable Colored Point Cloud
+
+To enable the colored point cloud feature, enter the following command:
+
+```bash
+ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
+```
+
+#### Visualizing Colored Point Cloud in RViz2
+
+To visualize the colored point cloud data:
+
+1. Launch RViz2 following the command execution.
+2. Add a `PointCloud2` display panel.
+3. Choose the `/camera/depth_registered/points` topic from the list.
+4. Ensure the fixed frame is set to `camera_link`.
+
+- **Example Visualization**
+
+The result of the colored point cloud in RViz2 should look similar to this:
+
+![Colored Point Cloud Visualization](../image/point_cloud/image6.jpg)

docs/source/4_application_guide/tf_transformations.md

@@ -0,0 +1,15 @@
+### 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)