From 9917f88b51dba64661c0e21e79af9ed6675620b6 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Thu, 30 Oct 2025 13:43:56 +0800 Subject: [PATCH] Remove redundant TF transformation details from coordinate_and_tf documentation --- .../4_application_guide/coordinate_and_tf.md | 15 --------------- .../4_application_guide/coordinate_and_tf.md | 16 ---------------- 2 files changed, 31 deletions(-) diff --git a/docs/en/source/4_application_guide/coordinate_and_tf.md b/docs/en/source/4_application_guide/coordinate_and_tf.md index 8c87ed23..e55289a9 100644 --- a/docs/en/source/4_application_guide/coordinate_and_tf.md +++ b/docs/en/source/4_application_guide/coordinate_and_tf.md @@ -6,21 +6,6 @@ ![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) ### ROS2 Robot Coordinate System vs Camera Optical Coordinate System diff --git a/docs/zh/source/4_application_guide/coordinate_and_tf.md b/docs/zh/source/4_application_guide/coordinate_and_tf.md index 9a314b95..d5feb14e 100644 --- a/docs/zh/source/4_application_guide/coordinate_and_tf.md +++ b/docs/zh/source/4_application_guide/coordinate_and_tf.md @@ -6,22 +6,6 @@ ![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 - -我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换 - -此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。 - -Gemini335模块的RGB传感器和右红外传感器静态TF变换示例，如rviz2中所示： - -```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 * 视角：