mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +08:00
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This commit is contained in:
ob-yalian
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
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</ul>
|
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
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</ul>
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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</ul>
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</li>
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</ul>
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@@ -687,7 +684,7 @@ thead th {
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
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<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
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</span></p>
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</div>
|
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|
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|
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@@ -150,34 +150,31 @@
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
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</ul>
|
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</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
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</ul>
|
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</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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</ul>
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</li>
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</ul>
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@@ -557,7 +554,7 @@
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<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
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<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
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</span></p>
|
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</div>
|
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|
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@@ -150,34 +150,31 @@
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
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</ul>
|
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
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</ul>
|
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</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -395,7 +392,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -422,7 +419,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -388,7 +385,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -386,7 +383,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -459,7 +456,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -464,7 +461,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -395,7 +392,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -391,28 +388,17 @@
|
||||
<li class="toctree-l2"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
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|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -352,7 +349,7 @@
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">4.9. </span>Compressed Image</li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">4.7. </span>Compressed Image</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../_sources/source/4_application_guide/compressed_image.md.txt" rel="nofollow"> View page source</a>
|
||||
</li>
|
||||
@@ -363,7 +360,7 @@
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="compressed-image">
|
||||
<h1><span class="section-number">4.9. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">4.7. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
|
||||
<p>You can use <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> to compress the image using <code class="docutils literal notranslate"><span class="pre">jpeg</span></code>. Below is an example of how to use it:</p>
|
||||
<p>To access the compressed color image, you can use the following command:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
|
||||
@@ -376,15 +373,15 @@
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<a href="tf_transformations.html" class="btn btn-neutral float-left" title="4.8. TF from coordinate A to coordinate B:" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="point_cloud.html" class="btn btn-neutral float-right" title="4.10. Enabling and Visualizing Point Cloud in ROS 2" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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<a href="tf_transformations.html" class="btn btn-neutral float-left" title="4.6. TF from coordinate A to coordinate B:" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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<a href="point_cloud.html" class="btn btn-neutral float-right" title="4.8. Enabling and Visualizing Point Cloud in ROS 2" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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<hr/>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
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<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
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</div>
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@@ -6,7 +6,7 @@
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<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>4.4. ROS2 Robot vs Camera Optical Coordination Systems — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
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<link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
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@@ -21,7 +21,7 @@
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<script src="../../_static/js/theme.js"></script>
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<link rel="index" title="Index" href="../../genindex.html" />
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<link rel="search" title="Search" href="../../search.html" />
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<link rel="next" title="4.7. Camera sensor structure" href="camera_sensor_structure.html" />
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<link rel="next" title="4.5. Camera sensor structure" href="camera_sensor_structure.html" />
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<link rel="prev" title="4.3. Available Topics" href="topics.html" />
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@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -352,7 +349,7 @@
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
|
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<li class="breadcrumb-item active"><span class="section-number">4.4. </span>ROS2 Robot vs Camera Optical Coordination Systems</li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">4.4. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System</li>
|
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<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../_sources/source/4_application_guide/coordinate_systems.md.txt" rel="nofollow"> View page source</a>
|
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</li>
|
||||
@@ -362,145 +359,312 @@
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros2-robot-vs-camera-optical-coordination-systems">
|
||||
<h1><span class="section-number">4.4. </span>ROS2 Robot vs Camera Optical Coordination Systems<a class="headerlink" href="#ros2-robot-vs-camera-optical-coordination-systems" title="Link to this heading"></a></h1>
|
||||
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">
|
||||
<h1><span class="section-number">4.4. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h1>
|
||||
<ul class="simple">
|
||||
<li><p>Point Of View:</p>
|
||||
<li><p>Point of View:</p>
|
||||
<ul>
|
||||
<li><p>Imagine we are standing behind of the camera, and looking forward.</p></li>
|
||||
<li><p>Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..</p></li>
|
||||
<li><p>Imagine standing behind the camera and looking forward.</p></li>
|
||||
<li><p>Always use this point of view when discussing coordinates, left vs right IR, sensor positions, etc.</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
<p><img alt="ROS2 and Camera Coordinate System" src="../../_images/image0.png" /></p>
|
||||
<ul class="simple">
|
||||
<li><p>ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)</p></li>
|
||||
<li><p>ROS2 Coordinate System: (X: Forward, Y: Left, Z: Up)</p></li>
|
||||
<li><p>Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)</p></li>
|
||||
<li><p>All data published in our wrapper topics is optical data taken directly from our camera sensors.</p></li>
|
||||
<li><p>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.</p></li>
|
||||
<li><p>All data published in the wrapper topics is optical data taken directly from the camera sensors.</p></li>
|
||||
<li><p>Static and dynamic TF topics publish optical and ROS coordinate systems so users can transform between them.</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="using-ros2-tf-tools">
|
||||
<h1><span class="section-number">4.5. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h1>
|
||||
<section id="viewing-the-tf-tree-structure">
|
||||
<h2><span class="section-number">4.5.1. </span>Viewing the TF Tree Structure<a class="headerlink" href="#viewing-the-tf-tree-structure" title="Link to this heading"></a></h2>
|
||||
<p>You can use the following ROS2 commands to print and visualize the TF tree published by the camera package:</p>
|
||||
<h2><span class="section-number">4.4.1. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2>
|
||||
<section id="view-tf-tree-structure">
|
||||
<h3><span class="section-number">4.4.1.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3>
|
||||
<p>Use the following ROS2 commands to print and visualize the TF tree published by the camera package:</p>
|
||||
<p><strong>Print all TF relationships:</strong></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>This command generates a <code class="docutils literal notranslate"><span class="pre">frames.pdf</span></code> file that displays the hierarchical relationships between all frames.</p>
|
||||
<p>This command generates a <code class="docutils literal notranslate"><span class="pre">frames.pdf</span></code> file showing the hierarchy between all frames.</p>
|
||||
<p><img alt="image-20251027111351870" src="../../_images/image4.png" /></p>
|
||||
<p><strong>View all currently published TF information:</strong></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/tf_static
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>View the TF transform between two specified frames:</strong></p>
|
||||
<p>Use the following command to view the transform between two specific frames:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_ros<span class="w"> </span>tf2_echo<span class="w"> </span><span class="o">[</span>source_frame<span class="o">]</span><span class="w"> </span><span class="o">[</span>target_frame<span class="o">]</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>Example, view transform from <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> to <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code>:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_ros<span class="w"> </span>tf2_echo<span class="w"> </span>camera_link<span class="w"> </span>camera_depth_optical_frame
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>The command continuously outputs the real-time transform between the two frames, including:</p>
|
||||
<ul class="simple">
|
||||
<li><p>Translation: x, y, z (meters)</p></li>
|
||||
<li><p>Rotation (Quaternion): x, y, z, w</p></li>
|
||||
<li><p>Rotation (RPY): roll, pitch, yaw (radians and degrees)</p></li>
|
||||
<li><p>Transform Matrix: 4×4 matrix with rotation and translation</p></li>
|
||||
</ul>
|
||||
<p>Sample output:</p>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">At</span> <span class="n">time</span> <span class="mf">0.0</span>
|
||||
<span class="o">-</span> <span class="n">Translation</span><span class="p">:</span> <span class="p">[</span><span class="mf">0.000</span><span class="p">,</span> <span class="mf">0.000</span><span class="p">,</span> <span class="mf">0.000</span><span class="p">]</span>
|
||||
<span class="o">-</span> <span class="n">Rotation</span><span class="p">:</span> <span class="ow">in</span> <span class="n">Quaternion</span> <span class="p">[</span><span class="o">-</span><span class="mf">0.500</span><span class="p">,</span> <span class="mf">0.500</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.500</span><span class="p">,</span> <span class="mf">0.500</span><span class="p">]</span>
|
||||
<span class="o">-</span> <span class="n">Rotation</span><span class="p">:</span> <span class="ow">in</span> <span class="n">RPY</span> <span class="p">(</span><span class="n">radian</span><span class="p">)</span> <span class="p">[</span><span class="o">-</span><span class="mf">1.571</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.000</span><span class="p">,</span> <span class="o">-</span><span class="mf">1.571</span><span class="p">]</span>
|
||||
<span class="o">-</span> <span class="n">Rotation</span><span class="p">:</span> <span class="ow">in</span> <span class="n">RPY</span> <span class="p">(</span><span class="n">degree</span><span class="p">)</span> <span class="p">[</span><span class="o">-</span><span class="mf">90.000</span><span class="p">,</span> <span class="o">-</span><span class="mf">0.000</span><span class="p">,</span> <span class="o">-</span><span class="mf">90.000</span><span class="p">]</span>
|
||||
<span class="o">-</span> <span class="n">Matrix</span><span class="p">:</span>
|
||||
<span class="mf">0.000</span> <span class="mf">0.000</span> <span class="mf">1.000</span> <span class="mf">0.000</span>
|
||||
<span class="o">-</span><span class="mf">1.000</span> <span class="mf">0.000</span> <span class="mf">0.000</span> <span class="mf">0.000</span>
|
||||
<span class="mf">0.000</span> <span class="o">-</span><span class="mf">1.000</span> <span class="mf">0.000</span> <span class="mf">0.000</span>
|
||||
<span class="mf">0.000</span> <span class="mf">0.000</span> <span class="mf">0.000</span> <span class="mf">1.000</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="visualizing-tf-tree-with-rviz2">
|
||||
<h2><span class="section-number">4.5.2. </span>Visualizing TF Tree with rviz2<a class="headerlink" href="#visualizing-tf-tree-with-rviz2" title="Link to this heading"></a></h2>
|
||||
<p>You can use rviz2 to visualize the TF tree structure and relative positions of coordinate systems in real-time:</p>
|
||||
<section id="visualize-tf-tree-in-rviz2">
|
||||
<h3><span class="section-number">4.4.1.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<p>Use rviz2 to visualize the TF tree and relative frame poses in real time:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>In rviz2:</p>
|
||||
<ul class="simple">
|
||||
<li><p>Add the <code class="docutils literal notranslate"><span class="pre">TF</span></code> display plugin</p></li>
|
||||
<li><p>Configure the Fixed Frame to <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> or <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code></p></li>
|
||||
<li><p>Select the TF frames to display</p></li>
|
||||
<li><p>Set the Fixed Frame to <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> or <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code></p></li>
|
||||
<li><p>Select which TF frames to display</p></li>
|
||||
</ul>
|
||||
<p><img alt="image-20251027140652727" src="../../_images/image5.png" /></p>
|
||||
</section>
|
||||
</section>
|
||||
<section id="camera-tf-calculation-and-publishing-mechanism">
|
||||
<h1><span class="section-number">4.6. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h1>
|
||||
<h2><span class="section-number">4.4.2. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2>
|
||||
<section id="core-function-obcameranode-calcandpublishstatictransform">
|
||||
<h2><span class="section-number">4.6.1. </span>Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h2>
|
||||
<p>The camera node calculates and publishes static transformation relationships between all sensors through this function. Below is a detailed explanation of the code:</p>
|
||||
<h3><span class="section-number">4.4.2.1. </span>Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
|
||||
<p>The camera node uses this function to calculate and publish all static transforms between sensors.</p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">OBCameraNode::calcAndPublishStaticTransform</span><span class="p">()</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">zero_rot</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">quaternion_optical</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="o">-</span><span class="n">M_PI</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="o">-</span><span class="n">M_PI</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Vector3</span><span class="w"> </span><span class="n">zero_trans</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">];</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">device_info</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">device_</span><span class="o">-></span><span class="n">getDeviceInfo</span><span class="p">();</span>
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">device_info</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">pid</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">device_info</span><span class="o">-></span><span class="n">getPid</span><span class="p">();</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="o">!</span><span class="n">base_stream_profile</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_ERROR_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span><span class="w"> </span><span class="s">"Failed to get base stream profile"</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="k">return</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">base_stream_profile</span><span class="p">.</span><span class="n">get</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="k">for</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="o">&</span><span class="n">item</span><span class="w"> </span><span class="o">:</span><span class="w"> </span><span class="n">stream_profile_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">stream_index</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">item</span><span class="p">.</span><span class="n">first</span><span class="p">;</span>
|
||||
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">stream_profile</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">item</span><span class="p">.</span><span class="n">second</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="o">!</span><span class="n">stream_profile</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">continue</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">try</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">base_stream_profile</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">catch</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">ob</span><span class="o">::</span><span class="n">Error</span><span class="w"> </span><span class="o">&</span><span class="n">e</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_ERROR_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span><span class="w"> </span><span class="s">"Failed to get "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">stream_name_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]</span>
|
||||
<span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">" extrinsic: "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">e</span><span class="p">.</span><span class="n">getMessage</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">OBExtrinsic</span><span class="p">({{</span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">},</span><span class="w"> </span><span class="p">{</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">}});</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">rotationMatrixToQuaternion</span><span class="p">(</span><span class="n">ex</span><span class="p">.</span><span class="n">rot</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">.</span><span class="n">inverse</span><span class="p">();</span>
|
||||
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Vector3</span><span class="w"> </span><span class="n">trans</span><span class="p">(</span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span><span class="w"> </span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span><span class="w"> </span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">2</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">timestamp</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">node_</span><span class="o">-></span><span class="n">now</span><span class="p">();</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">stream_index</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="n">base_stream_</span><span class="p">.</span><span class="n">first</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">stream_index</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">OB_STREAM_IR_RIGHT</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">base_stream_</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">OB_STREAM_DEPTH</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">abs</span><span class="p">(</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]);</span><span class="w"> </span><span class="c1">// because left and right ir calibration is error</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">publishStaticTF</span><span class="p">(</span><span class="n">timestamp</span><span class="p">,</span><span class="w"> </span><span class="n">trans</span><span class="p">,</span><span class="w"> </span><span class="n">Q</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">],</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">publishStaticTF</span><span class="p">(</span><span class="n">timestamp</span><span class="p">,</span><span class="w"> </span><span class="n">zero_trans</span><span class="p">,</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="n">optical_frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_INFO_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span><span class="w"> </span><span class="s">"Publishing static transform from "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">stream_name_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]</span>
|
||||
<span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">" to "</span>
|
||||
<span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">stream_name_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_INFO_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span><span class="w"> </span><span class="s">"Translation "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">", "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">trans</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">", "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">trans</span><span class="p">[</span><span class="mi">2</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_INFO_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span><span class="w"> </span><span class="s">"Rotation "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">Q</span><span class="p">.</span><span class="n">getX</span><span class="p">()</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">", "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">Q</span><span class="p">.</span><span class="n">getY</span><span class="p">()</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">", "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">Q</span><span class="p">.</span><span class="n">getZ</span><span class="p">()</span>
|
||||
<span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">", "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">Q</span><span class="p">.</span><span class="n">getW</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">((</span><span class="n">pid</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">FEMTO_BOLT_PID</span><span class="w"> </span><span class="o">||</span><span class="w"> </span><span class="n">pid</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">FEMTO_MEGA_PID</span><span class="p">)</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span>
|
||||
<span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="c1">// calc depth to color</span>
|
||||
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">depth_to_color_extrinsics</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">rotationMatrixToQuaternion</span><span class="p">(</span><span class="n">depth_to_color_extrinsics</span><span class="p">.</span><span class="n">rot</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">.</span><span class="n">inverse</span><span class="p">();</span>
|
||||
<span class="w"> </span><span class="n">publishStaticTF</span><span class="p">(</span><span class="n">node_</span><span class="o">-></span><span class="n">now</span><span class="p">(),</span><span class="w"> </span><span class="n">zero_trans</span><span class="p">,</span><span class="w"> </span><span class="n">Q</span><span class="p">,</span><span class="w"> </span><span class="n">camera_link_frame_id_</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">publishStaticTF</span><span class="p">(</span><span class="n">node_</span><span class="o">-></span><span class="n">now</span><span class="p">(),</span><span class="w"> </span><span class="n">zero_trans</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">,</span><span class="w"> </span><span class="n">camera_link_frame_id_</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">static</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">*</span><span class="n">frame_id</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s">"depth_to_color_extrinsics"</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">try</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">catch</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">ob</span><span class="o">::</span><span class="n">Error</span><span class="w"> </span><span class="o">&</span><span class="n">e</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_ERROR_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s">"Failed to get "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">" extrinsic: "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">e</span><span class="p">.</span><span class="n">getMessage</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">OBExtrinsic</span><span class="p">({{</span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">},</span><span class="w"> </span><span class="p">{</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">}});</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="o">-></span><span class="n">publish</span><span class="p">(</span><span class="n">ex_msg</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">INFRA0</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">static</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">*</span><span class="n">frame_id</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s">"depth_to_ir_extrinsics"</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">try</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">INFRA0</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">catch</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">ob</span><span class="o">::</span><span class="n">Error</span><span class="w"> </span><span class="o">&</span><span class="n">e</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_ERROR_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s">"Failed to get "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">" extrinsic: "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">e</span><span class="p">.</span><span class="n">getMessage</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">OBExtrinsic</span><span class="p">({{</span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">},</span><span class="w"> </span><span class="p">{</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">}});</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_</span><span class="p">[</span><span class="n">INFRA0</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">INFRA0</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">INFRA0</span><span class="p">]</span><span class="o">-></span><span class="n">publish</span><span class="p">(</span><span class="n">ex_msg</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">INFRA1</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">static</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">*</span><span class="n">frame_id</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s">"depth_to_left_ir_extrinsics"</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">try</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">INFRA1</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">catch</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">ob</span><span class="o">::</span><span class="n">Error</span><span class="w"> </span><span class="o">&</span><span class="n">e</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_ERROR_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s">"Failed to get "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">" extrinsic: "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">e</span><span class="p">.</span><span class="n">getMessage</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">OBExtrinsic</span><span class="p">({{</span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">},</span><span class="w"> </span><span class="p">{</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">}});</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_</span><span class="p">[</span><span class="n">INFRA1</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">INFRA1</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">INFRA1</span><span class="p">]</span><span class="o">-></span><span class="n">publish</span><span class="p">(</span><span class="n">ex_msg</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">INFRA2</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">static</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">*</span><span class="n">frame_id</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s">"depth_to_right_ir_extrinsics"</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">try</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">INFRA2</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">catch</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">ob</span><span class="o">::</span><span class="n">Error</span><span class="w"> </span><span class="o">&</span><span class="n">e</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_ERROR_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s">"Failed to get "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">" extrinsic: "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">e</span><span class="p">.</span><span class="n">getMessage</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">OBExtrinsic</span><span class="p">({{</span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">},</span><span class="w"> </span><span class="p">{</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">}});</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="o">-</span><span class="n">std</span><span class="o">::</span><span class="n">abs</span><span class="p">(</span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_</span><span class="p">[</span><span class="n">INFRA2</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">INFRA2</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">INFRA2</span><span class="p">]</span><span class="o">-></span><span class="n">publish</span><span class="p">(</span><span class="n">ex_msg</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">ACCEL</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">static</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">*</span><span class="n">frame_id</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s">"depth_to_accel_extrinsics"</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">try</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">ACCEL</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">catch</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">ob</span><span class="o">::</span><span class="n">Error</span><span class="w"> </span><span class="o">&</span><span class="n">e</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_ERROR_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s">"Failed to get "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">" extrinsic: "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">e</span><span class="p">.</span><span class="n">getMessage</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">OBExtrinsic</span><span class="p">({{</span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">},</span><span class="w"> </span><span class="p">{</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">}});</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_</span><span class="p">[</span><span class="n">ACCEL</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">ACCEL</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">ACCEL</span><span class="p">]</span><span class="o">-></span><span class="n">publish</span><span class="p">(</span><span class="n">ex_msg</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">GYRO</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">static</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">*</span><span class="n">frame_id</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s">"depth_to_gyro_extrinsics"</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">try</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">GYRO</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">catch</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="n">ob</span><span class="o">::</span><span class="n">Error</span><span class="w"> </span><span class="o">&</span><span class="n">e</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">RCLCPP_ERROR_STREAM</span><span class="p">(</span><span class="n">logger_</span><span class="p">,</span>
|
||||
<span class="w"> </span><span class="s">"Failed to get "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="s">" extrinsic: "</span><span class="w"> </span><span class="o"><<</span><span class="w"> </span><span class="n">e</span><span class="p">.</span><span class="n">getMessage</span><span class="p">());</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">OBExtrinsic</span><span class="p">({{</span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">1</span><span class="p">},</span><span class="w"> </span><span class="p">{</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">}});</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_</span><span class="p">[</span><span class="n">GYRO</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">CHECK_NOTNULL</span><span class="p">(</span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">GYRO</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">GYRO</span><span class="p">]</span><span class="o">-></span><span class="n">publish</span><span class="p">(</span><span class="n">ex_msg</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_sync_output_accel_gyro_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">zero_rot</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Vector3</span><span class="w"> </span><span class="n">zero_trans</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span><span class="w"> </span><span class="mi">0</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">publishStaticTF</span><span class="p">(</span><span class="n">node_</span><span class="o">-></span><span class="n">now</span><span class="p">(),</span><span class="w"> </span><span class="n">zero_trans</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">,</span><span class="w"> </span><span class="n">optical_frame_id_</span><span class="p">[</span><span class="n">GYRO</span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="n">accel_gyro_frame_id_</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="p">}</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="quaternion-initialization-and-coordinate-system-transformation">
|
||||
<h2><span class="section-number">4.6.2. </span>Quaternion Initialization and Coordinate System Transformation<a class="headerlink" href="#quaternion-initialization-and-coordinate-system-transformation" title="Link to this heading"></a></h2>
|
||||
<section id="function-breakdown">
|
||||
<h3><span class="section-number">4.4.2.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3>
|
||||
<p>Detailed explanation of the code:</p>
|
||||
<p><strong>Quaternion Initialization and Coordinate Transform</strong></p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
|
||||
<span class="n">zero_rot</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">);</span>
|
||||
<span class="n">quaternion_optical</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="o">-</span><span class="n">M_PI</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="o">-</span><span class="n">M_PI</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">);</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">quaternion_optical</span></code>: Defines the rotation transformation from the optical coordinate system to the ROS standard coordinate system (90-degree rotation)</p></li>
|
||||
<li><p>This rotation converts the camera optical coordinate system (X right, Y down, Z forward) to the ROS standard coordinate system (X forward, Y left, Z up)</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">quaternion_optical</span></code>: Defines the rotation from optical coordinates to ROS standard (90° rotation)</p></li>
|
||||
<li><p>Converts camera optical CS (X right, Y down, Z forward) to ROS CS (X forward, Y left, Z up)</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="obtaining-device-information-and-base-stream">
|
||||
<h2><span class="section-number">4.6.3. </span>Obtaining Device Information and Base Stream<a class="headerlink" href="#obtaining-device-information-and-base-stream" title="Link to this heading"></a></h2>
|
||||
<p><strong>Get Device Info and Base Stream</strong></p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">auto</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">];</span>
|
||||
<span class="k">auto</span><span class="w"> </span><span class="n">device_info</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">device_</span><span class="o">-></span><span class="n">getDeviceInfo</span><span class="p">();</span>
|
||||
<span class="c1">// The base stream is typically the DEPTH stream</span>
|
||||
<span class="c1">// Base stream usually DEPTH</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>A base stream (typically the depth stream) is selected, and all other sensor transformations are calculated relative to this base stream</p></li>
|
||||
<li><p>Choose a base stream (usually depth); all other transforms are relative to it</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="iterating-through-all-streams-and-calculating-relative-transformations">
|
||||
<h2><span class="section-number">4.6.4. </span>Iterating Through All Streams and Calculating Relative Transformations<a class="headerlink" href="#iterating-through-all-streams-and-calculating-relative-transformations" title="Link to this heading"></a></h2>
|
||||
<p><strong>Iterate Streams and Compute Relative Transforms</strong></p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">for</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="o">&</span><span class="n">item</span><span class="w"> </span><span class="o">:</span><span class="w"> </span><span class="n">stream_profile_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">stream_index</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">item</span><span class="p">.</span><span class="n">first</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">stream_profile</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">item</span><span class="p">.</span><span class="n">second</span><span class="p">;</span>
|
||||
|
||||
<span class="w"> </span><span class="c1">// Get the extrinsics of this stream relative to the base stream</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">base_stream_profile</span><span class="p">);</span>
|
||||
|
||||
<span class="w"> </span><span class="c1">// Convert rotation matrix to quaternion</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">rotationMatrixToQuaternion</span><span class="p">(</span><span class="n">ex</span><span class="p">.</span><span class="n">rot</span><span class="p">);</span>
|
||||
|
||||
<span class="w"> </span><span class="c1">// Apply optical coordinate system transformation: Q_new = quaternion_optical * Q * quaternion_optical.inverse()</span>
|
||||
<span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">.</span><span class="n">inverse</span><span class="p">();</span>
|
||||
|
||||
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Vector3</span><span class="w"> </span><span class="nf">trans</span><span class="p">(</span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span><span class="w"> </span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span><span class="w"> </span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">2</span><span class="p">]);</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">OBExtrinsic</span></code> contains the rotation matrix (<code class="docutils literal notranslate"><span class="pre">rot</span></code>) and translation vector (<code class="docutils literal notranslate"><span class="pre">trans</span></code>) between two sensors</p></li>
|
||||
<li><p>Quaternion multiplication applies the optical coordinate system transformation to each sensor’s rotation relationship</p></li>
|
||||
<li><p>This transformation converts the camera’s native optical coordinate system to the ROS standard coordinate system</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">OBExtrinsic</span></code> holds rotation matrix (<code class="docutils literal notranslate"><span class="pre">rot</span></code>) and translation vector (<code class="docutils literal notranslate"><span class="pre">trans</span></code>)</p></li>
|
||||
<li><p>Apply optical-to-ROS rotation via quaternion multiplication</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="publishing-tf-transformations">
|
||||
<h2><span class="section-number">4.6.5. </span>Publishing TF Transformations<a class="headerlink" href="#publishing-tf-transformations" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="c1">// Publish the transformation from sensor to base stream (in ROS coordinate system)</span>
|
||||
<span class="n">publishStaticTF</span><span class="p">(</span><span class="n">timestamp</span><span class="p">,</span><span class="w"> </span><span class="n">trans</span><span class="p">,</span><span class="w"> </span><span class="n">Q</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">],</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]);</span>
|
||||
|
||||
<span class="c1">// Publish the transformation from physical frame to its optical frame</span>
|
||||
<p><strong>Publish TF Transforms</strong></p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">publishStaticTF</span><span class="p">(</span><span class="n">timestamp</span><span class="p">,</span><span class="w"> </span><span class="n">trans</span><span class="p">,</span><span class="w"> </span><span class="n">Q</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">],</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]);</span>
|
||||
<span class="n">publishStaticTF</span><span class="p">(</span><span class="n">timestamp</span><span class="p">,</span><span class="w"> </span><span class="n">zero_trans</span><span class="p">,</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="n">optical_frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]);</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>First <code class="docutils literal notranslate"><span class="pre">publishStaticTF</span></code>: Publishes the transformation from the base stream to the current sensor (translation + rotation)</p></li>
|
||||
<li><p>Second <code class="docutils literal notranslate"><span class="pre">publishStaticTF</span></code>: Publishes the transformation from physical frame to optical frame (pure rotation, no translation)</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">frame_id_[stream_index]</span></code>: Physical coordinate system frame name (e.g., <code class="docutils literal notranslate"><span class="pre">camera_depth_frame</span></code>)</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">optical_frame_id_[stream_index]</span></code>: Optical coordinate system frame name (e.g., <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code>)</p></li>
|
||||
<li><p>First: base stream to sensor (translation + rotation)</p></li>
|
||||
<li><p>Second: sensor frame to optical frame (pure rotation)</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="special-handling-for-left-and-right-ir-cameras">
|
||||
<h2><span class="section-number">4.6.6. </span>Special Handling for Left and Right IR Cameras<a class="headerlink" href="#special-handling-for-left-and-right-ir-cameras" title="Link to this heading"></a></h2>
|
||||
<p><strong>Special Handling for Left/Right IR</strong></p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">stream_index</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">OB_STREAM_IR_RIGHT</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">base_stream_</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">OB_STREAM_DEPTH</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">abs</span><span class="p">(</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]);</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Left and right IR cameras are symmetric about the center plane in the device coordinate system</p></li>
|
||||
<li><p>Using <code class="docutils literal notranslate"><span class="pre">abs()</span></code> ensures the X-axis offset is positive, maintaining geometric consistency</p></li>
|
||||
<li><p>Ensures symmetry consistency between left/right IR cameras</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="publishing-extrinsics-from-depth-to-other-sensors">
|
||||
<h2><span class="section-number">4.6.7. </span>Publishing Extrinsics from Depth to Other Sensors<a class="headerlink" href="#publishing-extrinsics-from-depth-to-other-sensors" title="Link to this heading"></a></h2>
|
||||
<p><strong>Publish Depth-to-Other Extrinsics</strong></p>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="s">"depth_to_color_extrinsics"</span><span class="p">);</span>
|
||||
@@ -508,12 +672,11 @@
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>In addition to publishing transformation relationships through TF, raw extrinsic parameters are also published through custom topics</p></li>
|
||||
<li><p>This allows users to directly access the camera’s intrinsic and extrinsic parameters for high-precision point cloud alignment and depth-color registration</p></li>
|
||||
<li><p>Publishes raw extrinsics via topic for advanced alignment and registration</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
@@ -521,14 +684,14 @@
|
||||
</div>
|
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<hr/>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
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<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
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<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
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||||
|
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@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -1002,7 +999,7 @@
|
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|
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<div role="contentinfo">
|
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
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<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
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<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
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@@ -6,7 +6,7 @@
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>4.10. Enabling and Visualizing Point Cloud in ROS 2 — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>4.8. Enabling and Visualizing Point Cloud in ROS 2 — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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@@ -150,34 +150,31 @@
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<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
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|
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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||||
</ul>
|
||||
</li>
|
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<li class="toctree-l3"><a class="reference internal" href="#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
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<li class="toctree-l2 current"><a class="current reference internal" href="#">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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||||
</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="breadcrumb-item active"><span class="section-number">4.10. </span>Enabling and Visualizing Point Cloud in ROS 2</li>
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<li class="breadcrumb-item active"><span class="section-number">4.8. </span>Enabling and Visualizing Point Cloud in ROS 2</li>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="enabling-and-visualizing-point-cloud-in-ros-2">
|
||||
<h1><span class="section-number">4.10. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="headerlink" href="#enabling-and-visualizing-point-cloud-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">4.8. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="headerlink" href="#enabling-and-visualizing-point-cloud-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<p>This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.</p>
|
||||
<section id="enabling-depth-point-cloud">
|
||||
<h2><span class="section-number">4.10.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.8.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
|
||||
<section id="command-to-enable-depth-point-cloud">
|
||||
<h3><span class="section-number">4.10.1.1. </span>Command to Enable Depth Point Cloud<a class="headerlink" href="#command-to-enable-depth-point-cloud" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.8.1.1. </span>Command to Enable Depth Point Cloud<a class="headerlink" href="#command-to-enable-depth-point-cloud" title="Link to this heading"></a></h3>
|
||||
<p>To activate the point cloud data stream for depth information, use the following command:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
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</div>
|
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</section>
|
||||
<section id="visualizing-depth-point-cloud-in-rviz2">
|
||||
<h3><span class="section-number">4.10.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="headerlink" href="#visualizing-depth-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.8.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="headerlink" href="#visualizing-depth-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<p>After running the above command, perform the following steps to visualize the depth point cloud:</p>
|
||||
<ol class="simple">
|
||||
<li><p>Open RViz2.</p></li>
|
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@@ -391,16 +388,16 @@
|
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</section>
|
||||
</section>
|
||||
<section id="enabling-colored-point-cloud">
|
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<h2><span class="section-number">4.10.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.8.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
|
||||
<section id="command-to-enable-colored-point-cloud">
|
||||
<h3><span class="section-number">4.10.2.1. </span>Command to Enable Colored Point Cloud<a class="headerlink" href="#command-to-enable-colored-point-cloud" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.8.2.1. </span>Command to Enable Colored Point Cloud<a class="headerlink" href="#command-to-enable-colored-point-cloud" title="Link to this heading"></a></h3>
|
||||
<p>To enable the colored point cloud feature, enter the following command:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="visualizing-colored-point-cloud-in-rviz2">
|
||||
<h3><span class="section-number">4.10.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.8.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<p>To visualize the colored point cloud data:</p>
|
||||
<ol class="simple">
|
||||
<li><p>Launch RViz2 following the command execution.</p></li>
|
||||
@@ -421,7 +418,7 @@
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
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<title>4.8. TF from coordinate A to coordinate B: — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>4.6. TF from coordinate A to coordinate B: — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<h1><span class="section-number">4.8. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h1>
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<h1><span class="section-number">4.6. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h1>
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<p>In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position</p>
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<p>Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)</p>
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<p>Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.</p>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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||||
</ul>
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</ul>
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<a href="../4_application_guide/point_cloud.html" class="btn btn-neutral float-left" title="4.10. Enabling and Visualizing Point Cloud in ROS 2" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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@@ -471,7 +468,7 @@
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
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<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
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@@ -150,34 +150,31 @@
|
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -413,7 +410,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
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</span></p>
|
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</div>
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|
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|
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+20
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@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -390,7 +387,7 @@ resolutions is as follows:</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -408,7 +405,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -469,7 +466,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -433,7 +430,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -472,7 +469,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -420,7 +417,7 @@ parameter.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -440,7 +437,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -468,7 +465,7 @@ by running the following command:</p></li>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -456,7 +453,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+20
-23
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -524,7 +521,7 @@ python3<span class="w"> </span>SyncFramesMain.py
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -410,7 +407,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -515,7 +512,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -568,7 +565,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -401,7 +398,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -394,7 +391,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -497,7 +494,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -408,7 +405,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -431,7 +428,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -415,7 +412,7 @@ bash<span class="w"> </span>.make_deb.sh
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -394,7 +391,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -150,34 +150,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -1210,7 +1207,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+20
-23
@@ -149,34 +149,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -415,7 +412,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+20
-23
@@ -148,34 +148,31 @@
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -380,7 +377,7 @@ language governing permissions and limitations under the License.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:46:53.
|
||||
<span class="lastupdated">Last updated on 2025-10-29 02:21:32.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user