deploy: 9fb5e6af19

zh/_sources/source/4_application_guide/coordinate_systems.md.txt

@@ -1,4 +1,4 @@
-### ROS2机器人坐标系 vs 相机光学坐标系
+## ROS2机器人坐标系 vs 相机光学坐标系
 
 * 视角：
   * 想象我们站在相机后面，向前看。
@@ -33,6 +33,42 @@ ros2 run tf2_tools view_frames
 ros2 topic echo /tf_static
 ```
 
+**查看指定两个frame之间的TF变换关系：**
+
+使用以下命令可以查看两个特定frame之间的变换关系：
+
+```bash
+ros2 run tf2_ros tf2_echo [source_frame] [target_frame]
+```
+
+例如，查看从 `camera_link` 到 `camera_depth_optical_frame` 的变换：
+
+```bash
+ros2 run tf2_ros tf2_echo camera_link camera_depth_optical_frame
+```
+
+此命令会持续输出两个frame之间的实时变换信息，包括：
+
+- 平移 (Translation)：x、y、z 坐标（单位：米）
+- 旋转 (Rotation)：四元数 (x, y, z, w)
+- 欧拉角 (RPY)：以欧拉角形式表示的旋转
+- 齐次变换矩阵 (Transform Matrix)：包含旋转和平移信息的 4×4 矩阵
+
+示例输出：
+
+```
+At time 0.0
+- Translation: [0.000, 0.000, 0.000]
+- Rotation: in Quaternion [-0.500, 0.500, -0.500, 0.500]
+- Rotation: in RPY (radian) [-1.571, -0.000, -1.571]
+- Rotation: in RPY (degree) [-90.000, -0.000, -90.000]
+- Matrix:
+  0.000  0.000  1.000  0.000
+ -1.000  0.000  0.000  0.000
+  0.000 -1.000  0.000  0.000
+  0.000  0.000  0.000  1.000
+```
+
 #### 使用rviz2可视化TF树
 
 在rviz2中可以实时可视化TF树结构和坐标系的相对位置：
@@ -53,9 +89,180 @@ rviz2
 
 #### 核心函数：`OBCameraNode::calcAndPublishStaticTransform()`
 
-相机节点通过此函数计算和发布所有传感器之间的静态转换关系。下面是代码的详细解释：
+相机节点通过此函数计算和发布所有传感器之间的静态转换关系。
 
-#### 四元数初始化与坐标系变换
+```cpp
+void OBCameraNode::calcAndPublishStaticTransform() {
+  tf2::Quaternion quaternion_optical, zero_rot;
+  zero_rot.setRPY(0.0, 0.0, 0.0);
+  quaternion_optical.setRPY(-M_PI / 2, 0.0, -M_PI / 2);
+  tf2::Vector3 zero_trans(0, 0, 0);
+  auto base_stream_profile = stream_profile_[base_stream_];
+  auto device_info = device_->getDeviceInfo();
+  CHECK_NOTNULL(device_info);
+  auto pid = device_info->getPid();
+  if (!base_stream_profile) {
+    RCLCPP_ERROR_STREAM(logger_, "Failed to get base stream profile");
+    return;
+  }
+  CHECK_NOTNULL(base_stream_profile.get());
+  for (const auto &item : stream_profile_) {
+    auto stream_index = item.first;
+
+    auto stream_profile = item.second;
+    if (!stream_profile) {
+      continue;
+    }
+    OBExtrinsic ex;
+    try {
+      ex = stream_profile->getExtrinsicTo(base_stream_profile);
+    } catch (const ob::Error &e) {
+      RCLCPP_ERROR_STREAM(logger_, "Failed to get " << stream_name_[stream_index]
+                                                    << " extrinsic: " << e.getMessage());
+      ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
+    }
+
+    auto Q = rotationMatrixToQuaternion(ex.rot);
+    Q = quaternion_optical * Q * quaternion_optical.inverse();
+    tf2::Vector3 trans(ex.trans[0], ex.trans[1], ex.trans[2]);
+    auto timestamp = node_->now();
+    if (stream_index.first != base_stream_.first) {
+      if (stream_index.first == OB_STREAM_IR_RIGHT && base_stream_.first == OB_STREAM_DEPTH) {
+        trans[0] = std::abs(trans[0]);  // because left and right ir calibration is error
+      }
+      publishStaticTF(timestamp, trans, Q, frame_id_[base_stream_], frame_id_[stream_index]);
+    }
+    publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
+                    optical_frame_id_[stream_index]);
+    RCLCPP_INFO_STREAM(logger_, "Publishing static transform from " << stream_name_[stream_index]
+                                                                    << " to "
+                                                                    << stream_name_[base_stream_]);
+    RCLCPP_INFO_STREAM(logger_, "Translation " << trans[0] << ", " << trans[1] << ", " << trans[2]);
+    RCLCPP_INFO_STREAM(logger_, "Rotation " << Q.getX() << ", " << Q.getY() << ", " << Q.getZ()
+                                            << ", " << Q.getW());
+  }
+
+  if ((pid == FEMTO_BOLT_PID || pid == FEMTO_MEGA_PID) && enable_stream_[DEPTH] &&
+      enable_stream_[COLOR] && enable_publish_extrinsic_) {
+    // calc depth to color
+
+    CHECK_NOTNULL(stream_profile_[COLOR]);
+    auto depth_to_color_extrinsics = base_stream_profile->getExtrinsicTo(stream_profile_[COLOR]);
+    auto Q = rotationMatrixToQuaternion(depth_to_color_extrinsics.rot);
+    Q = quaternion_optical * Q * quaternion_optical.inverse();
+    publishStaticTF(node_->now(), zero_trans, Q, camera_link_frame_id_, frame_id_[base_stream_]);
+  } else {
+    publishStaticTF(node_->now(), zero_trans, zero_rot, camera_link_frame_id_,
+                    frame_id_[base_stream_]);
+  }
+
+  if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) {
+    static const char *frame_id = "depth_to_color_extrinsics";
+    OBExtrinsic ex;
+    try {
+      ex = base_stream_profile->getExtrinsicTo(stream_profile_[COLOR]);
+    } catch (const ob::Error &e) {
+      RCLCPP_ERROR_STREAM(logger_,
+                          "Failed to get " << frame_id << " extrinsic: " << e.getMessage());
+      ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
+    }
+    depth_to_other_extrinsics_[COLOR] = ex;
+    auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
+    CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[COLOR]);
+    depth_to_other_extrinsics_publishers_[COLOR]->publish(ex_msg);
+  }
+
+  if (enable_stream_[DEPTH] && enable_stream_[INFRA0] && enable_publish_extrinsic_) {
+    static const char *frame_id = "depth_to_ir_extrinsics";
+    OBExtrinsic ex;
+    try {
+      ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA0]);
+    } catch (const ob::Error &e) {
+      RCLCPP_ERROR_STREAM(logger_,
+                          "Failed to get " << frame_id << " extrinsic: " << e.getMessage());
+      ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
+    }
+    depth_to_other_extrinsics_[INFRA0] = ex;
+    auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
+    CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[INFRA0]);
+    depth_to_other_extrinsics_publishers_[INFRA0]->publish(ex_msg);
+  }
+  if (enable_stream_[DEPTH] && enable_stream_[INFRA1] && enable_publish_extrinsic_) {
+    static const char *frame_id = "depth_to_left_ir_extrinsics";
+    OBExtrinsic ex;
+    try {
+      ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA1]);
+    } catch (const ob::Error &e) {
+      RCLCPP_ERROR_STREAM(logger_,
+                          "Failed to get " << frame_id << " extrinsic: " << e.getMessage());
+      ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
+    }
+    depth_to_other_extrinsics_[INFRA1] = ex;
+    auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
+    CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[INFRA1]);
+    depth_to_other_extrinsics_publishers_[INFRA1]->publish(ex_msg);
+  }
+  if (enable_stream_[DEPTH] && enable_stream_[INFRA2] && enable_publish_extrinsic_) {
+    static const char *frame_id = "depth_to_right_ir_extrinsics";
+    OBExtrinsic ex;
+    try {
+      ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA2]);
+    } catch (const ob::Error &e) {
+      RCLCPP_ERROR_STREAM(logger_,
+                          "Failed to get " << frame_id << " extrinsic: " << e.getMessage());
+      ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
+    }
+    ex.trans[0] = -std::abs(ex.trans[0]);
+    depth_to_other_extrinsics_[INFRA2] = ex;
+    auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
+    CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[INFRA2]);
+    depth_to_other_extrinsics_publishers_[INFRA2]->publish(ex_msg);
+  }
+  if (enable_stream_[DEPTH] && enable_stream_[ACCEL] && enable_publish_extrinsic_) {
+    static const char *frame_id = "depth_to_accel_extrinsics";
+    OBExtrinsic ex;
+    try {
+      ex = base_stream_profile->getExtrinsicTo(stream_profile_[ACCEL]);
+    } catch (const ob::Error &e) {
+      RCLCPP_ERROR_STREAM(logger_,
+                          "Failed to get " << frame_id << " extrinsic: " << e.getMessage());
+      ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
+    }
+    depth_to_other_extrinsics_[ACCEL] = ex;
+    auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
+    CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[ACCEL]);
+    depth_to_other_extrinsics_publishers_[ACCEL]->publish(ex_msg);
+  }
+  if (enable_stream_[DEPTH] && enable_stream_[GYRO] && enable_publish_extrinsic_) {
+    static const char *frame_id = "depth_to_gyro_extrinsics";
+    OBExtrinsic ex;
+    try {
+      ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
+    } catch (const ob::Error &e) {
+      RCLCPP_ERROR_STREAM(logger_,
+                          "Failed to get " << frame_id << " extrinsic: " << e.getMessage());
+      ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
+    }
+    depth_to_other_extrinsics_[GYRO] = ex;
+    auto ex_msg = obExtrinsicsToMsg(ex, frame_id);
+    CHECK_NOTNULL(depth_to_other_extrinsics_publishers_[GYRO]);
+    depth_to_other_extrinsics_publishers_[GYRO]->publish(ex_msg);
+  }
+  if (enable_sync_output_accel_gyro_) {
+    tf2::Quaternion zero_rot;
+    zero_rot.setRPY(0.0, 0.0, 0.0);
+    tf2::Vector3 zero_trans(0, 0, 0);
+    publishStaticTF(node_->now(), zero_trans, zero_rot, optical_frame_id_[GYRO],
+                    accel_gyro_frame_id_);
+  }
+}
+```
+
+#### 函数解析
+
+下面是代码的详细解释：
+
+**四元数初始化与坐标系变换**
 
 ```cpp
 tf2::Quaternion quaternion_optical, zero_rot;
@@ -63,12 +270,10 @@ zero_rot.setRPY(0.0, 0.0, 0.0);
 quaternion_optical.setRPY(-M_PI / 2, 0.0, -M_PI / 2);
 ```
 
-**说明：**
-
 - `quaternion_optical`：定义光学坐标系到ROS标准坐标系的旋转变换（90度旋转）
 - 这个旋转将相机光学坐标系（X右、Y下、Z前）转换为ROS标准坐标系（X前、Y左、Z上）
 
-#### 获取设备信息与基准流
+ **获取设备信息与基准流**
 
 ```cpp
 auto base_stream_profile = stream_profile_[base_stream_];
@@ -76,11 +281,9 @@ auto device_info = device_->getDeviceInfo();
 // 通常基准流是深度流(DEPTH)
 ```
 
-**说明：**
-
 - 选择一个基准流（通常是深度流），所有其他传感器的变换都相对于这个基准流进行计算
 
-#### 遍历所有流并计算相对变换
+ **遍历所有流并计算相对变换**
 
 ```cpp
 for (const auto &item : stream_profile_) {
@@ -100,13 +303,11 @@ for (const auto &item : stream_profile_) {
     tf2::Vector3 trans(ex.trans[0], ex.trans[1], ex.trans[2]);
 ```
 
-**说明：**
-
 - `OBExtrinsic`包含了两个传感器之间的旋转矩阵(`rot`)和平移向量(`trans`)
 - 通过四元数乘法将光学坐标系变换应用到每个传感器的旋转关系中
 - 这个变换将相机原生的光学坐标系转换为ROS标准坐标系
 
-#### 发布TF变换
+ **发布TF变换**
 
 ```cpp
 // 发布传感器到基准流的变换（在ROS坐标系中）
@@ -117,14 +318,12 @@ publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_inde
                 optical_frame_id_[stream_index]);
 ```
 
-**说明：**
-
 - 第一个 `publishStaticTF`：发布从基准流到当前传感器的变换（平移+旋转）
 - 第二个 `publishStaticTF`：发布从物理frame到光学frame的变换（纯旋转，无平移）
 - `frame_id_[stream_index]`：物理坐标系frame名称（如 `camera_depth_frame`）
 - `optical_frame_id_[stream_index]`：光学坐标系frame名称（如 `camera_depth_optical_frame`）
 
-#### 特殊处理左右红外摄像头
+ **特殊处理左右红外摄像头**
 
 ```cpp
 if (stream_index.first == OB_STREAM_IR_RIGHT && base_stream_.first == OB_STREAM_DEPTH) {
@@ -132,12 +331,10 @@ if (stream_index.first == OB_STREAM_IR_RIGHT && base_stream_.first == OB_STREAM_
 }
 ```
 
-**说明：**
-
 - 左右红外摄像头在设备坐标系中关于中心平面对称
 - 通过 `abs()`确保X轴偏移为正值，保持几何一致性
 
-#### 发布深度到其他传感器的外参
+ **发布深度到其他传感器的外参**
 
 ```cpp
 if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) {
@@ -147,6 +344,4 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
 }
 ```
 
-**说明：**
-
 - 通过TF发布变换关系

zh/genindex.html

@@ -148,34 +148,31 @@
 <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#tf">4.4.1.1. 查看TF树结构</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#rviz2tf">4.4.1.2. 使用rviz2可视化TF树</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#id2">4.4.2.2. 函数解析</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
 </ul>
 </li>
 </ul>
@@ -374,7 +371,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
       </span></p>
   </div>
 

zh/index.html

@@ -150,34 +150,31 @@
 <li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
 </ul>
 </li>
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
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zh/source/3_quickstarts/quickstarts.html

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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
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zh/source/4_application_guide/application_guide.html

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+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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+<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
+<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
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     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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zh/source/4_application_guide/compressed_image.html

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+  <title>4.7. 压缩图像 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#tf">4.4.1.1. 查看TF树结构</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.4.1.2. 使用rviz2可视化TF树</a></li>
 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<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#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<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#id2">4.4.2.2. 函数解析</a></li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
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 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
+<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">4.7. 压缩图像</a></li>
+<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
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@@ -353,7 +350,7 @@
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-      <li class="breadcrumb-item active"><span class="section-number">4.9. </span>压缩图像</li>
+      <li class="breadcrumb-item active"><span class="section-number">4.7. </span>压缩图像</li>
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-<h1><span class="section-number">4.9. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1><span class="section-number">4.7. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
 <p>您可以使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 通过 <code class="docutils literal notranslate"><span class="pre">jpeg</span></code> 压缩图像。以下是使用示例：</p>
 <p>要访问压缩的彩色图像，可以使用以下命令：</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
@@ -377,15 +374,15 @@
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zh/source/4_application_guide/coordinate_systems.html

@@ -22,7 +22,7 @@
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@@ -151,34 +151,31 @@
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 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#tf">4.4.1.1. 查看TF树结构</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#rviz2tf">4.4.1.2. 使用rviz2可视化TF树</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="#id1">4.6. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id3">4.6.3. 获取设备信息与基准流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id5">4.6.5. 发布TF变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id1">4.4.2. 相机TF计算和发布机制</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
+<li class="toctree-l4"><a class="reference internal" href="#id2">4.4.2.2. 函数解析</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
-<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
+<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
+<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
 </ul>
 </li>
 </ul>
@@ -380,11 +377,10 @@
 <li><p>我们封装器话题中发布的所有数据都是直接从相机传感器获取的光学数据。</p></li>
 <li><p>静态和动态TF话题发布光学坐标系和ROS坐标系，使用户能够在两个坐标系之间转换。</p></li>
 </ul>
-</section>
 <section id="ros2-tf">
-<h1><span class="section-number">4.5. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h1>
+<h2><span class="section-number">4.4.1. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h2>
 <section id="tf">
-<h2><span class="section-number">4.5.1. </span>查看TF树结构<a class="headerlink" href="#tf" title="Link to this heading"></a></h2>
+<h3><span class="section-number">4.4.1.1. </span>查看TF树结构<a class="headerlink" href="#tf" title="Link to this heading"></a></h3>
 <p>可以使用以下ROS2命令来打印和可视化相机包发布的TF树：</p>
 <p><strong>打印所有TF关系：</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
@@ -396,9 +392,38 @@
 <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>查看指定两个frame之间的TF变换关系：</strong></p>
+<p>使用以下命令可以查看两个特定frame之间的变换关系：</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>例如，查看从 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> 到 <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code> 的变换：</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>此命令会持续输出两个frame之间的实时变换信息，包括：</p>
+<ul class="simple">
+<li><p>平移 (Translation)：x、y、z 坐标（单位：米）</p></li>
+<li><p>旋转 (Rotation)：四元数 (x, y, z, w)</p></li>
+<li><p>欧拉角 (RPY)：以欧拉角形式表示的旋转</p></li>
+<li><p>齐次变换矩阵 (Transform Matrix)：包含旋转和平移信息的 4×4 矩阵</p></li>
+</ul>
+<p>示例输出：</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="rviz2tf">
-<h2><span class="section-number">4.5.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h2>
+<h3><span class="section-number">4.4.1.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h3>
 <p>在rviz2中可以实时可视化TF树结构和坐标系的相对位置：</p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
 </pre></div>
@@ -413,38 +438,200 @@
 </section>
 </section>
 <section id="id1">
-<h1><span class="section-number">4.6. </span>相机TF计算和发布机制<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h2><span class="section-number">4.4.2. </span>相机TF计算和发布机制<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
 <section id="obcameranode-calcandpublishstatictransform">
-<h2><span class="section-number">4.6.1. </span>核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h2>
-<p>相机节点通过此函数计算和发布所有传感器之间的静态转换关系。下面是代码的详细解释：</p>
+<h3><span class="section-number">4.4.2.1. </span>核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
+<p>相机节点通过此函数计算和发布所有传感器之间的静态转换关系。</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">-&gt;</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">-&gt;</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">&quot;Failed to get base stream profile&quot;</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">&amp;</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">-&gt;</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">&amp;</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">&quot;Failed to get &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&lt;&lt;</span><span class="w"> </span><span class="s">&quot; extrinsic: &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">-&gt;</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">&amp;&amp;</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">&quot;Publishing static transform from &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&lt;&lt;</span><span class="w"> </span><span class="s">&quot; to &quot;</span>
+<span class="w">                                                                    </span><span class="o">&lt;&lt;</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">&quot;Translation &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&lt;&lt;</span><span class="w"> </span><span class="s">&quot;, &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&lt;&lt;</span><span class="w"> </span><span class="s">&quot;, &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&quot;Rotation &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&lt;&lt;</span><span class="w"> </span><span class="s">&quot;, &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&lt;&lt;</span><span class="w"> </span><span class="s">&quot;, &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&lt;&lt;</span><span class="w"> </span><span class="s">&quot;, &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">&amp;&amp;</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">&amp;&amp;</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">&amp;&amp;</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">-&gt;</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">-&gt;</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">-&gt;</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">&amp;&amp;</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">&amp;&amp;</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">&quot;depth_to_color_extrinsics&quot;</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">-&gt;</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">&amp;</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">&quot;Failed to get &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="s">&quot; extrinsic: &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">-&gt;</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">&amp;&amp;</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">&amp;&amp;</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">&quot;depth_to_ir_extrinsics&quot;</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">-&gt;</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">&amp;</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">&quot;Failed to get &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="s">&quot; extrinsic: &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">-&gt;</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">&amp;&amp;</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">&amp;&amp;</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">&quot;depth_to_left_ir_extrinsics&quot;</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">-&gt;</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">&amp;</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">&quot;Failed to get &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="s">&quot; extrinsic: &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">-&gt;</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">&amp;&amp;</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">&amp;&amp;</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">&quot;depth_to_right_ir_extrinsics&quot;</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">-&gt;</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">&amp;</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">&quot;Failed to get &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="s">&quot; extrinsic: &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">-&gt;</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">&amp;&amp;</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">&amp;&amp;</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">&quot;depth_to_accel_extrinsics&quot;</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">-&gt;</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">&amp;</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">&quot;Failed to get &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="s">&quot; extrinsic: &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">-&gt;</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">&amp;&amp;</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">&amp;&amp;</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">&quot;depth_to_gyro_extrinsics&quot;</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">-&gt;</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">&amp;</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">&quot;Failed to get &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="n">frame_id</span><span class="w"> </span><span class="o">&lt;&lt;</span><span class="w"> </span><span class="s">&quot; extrinsic: &quot;</span><span class="w"> </span><span class="o">&lt;&lt;</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">-&gt;</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">-&gt;</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="id2">
-<h2><span class="section-number">4.6.2. </span>四元数初始化与坐标系变换<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h3><span class="section-number">4.4.2.2. </span>函数解析<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
+<p>下面是代码的详细解释：</p>
+<p><strong>四元数初始化与坐标系变换</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>说明：</strong></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">quaternion_optical</span></code>：定义光学坐标系到ROS标准坐标系的旋转变换（90度旋转）</p></li>
 <li><p>这个旋转将相机光学坐标系（X右、Y下、Z前）转换为ROS标准坐标系（X前、Y左、Z上）</p></li>
 </ul>
-</section>
-<section id="id3">
-<h2><span class="section-number">4.6.3. </span>获取设备信息与基准流<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p><strong>获取设备信息与基准流</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">-&gt;</span><span class="n">getDeviceInfo</span><span class="p">();</span>
 <span class="c1">// 通常基准流是深度流(DEPTH)</span>
 </pre></div>
 </div>
-<p><strong>说明：</strong></p>
 <ul class="simple">
 <li><p>选择一个基准流（通常是深度流），所有其他传感器的变换都相对于这个基准流进行计算</p></li>
 </ul>
-</section>
-<section id="id4">
-<h2><span class="section-number">4.6.4. </span>遍历所有流并计算相对变换<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<p><strong>遍历所有流并计算相对变换</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">&amp;</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>
@@ -462,15 +649,12 @@
 <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>说明：</strong></p>
 <ul class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">OBExtrinsic</span></code>包含了两个传感器之间的旋转矩阵(<code class="docutils literal notranslate"><span class="pre">rot</span></code>)和平移向量(<code class="docutils literal notranslate"><span class="pre">trans</span></code>)</p></li>
 <li><p>通过四元数乘法将光学坐标系变换应用到每个传感器的旋转关系中</p></li>
 <li><p>这个变换将相机原生的光学坐标系转换为ROS标准坐标系</p></li>
 </ul>
-</section>
-<section id="id5">
-<h2><span class="section-number">4.6.5. </span>发布TF变换<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
+<p><strong>发布TF变换</strong></p>
 <div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="c1">// 发布传感器到基准流的变换（在ROS坐标系中）</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>
 
@@ -479,29 +663,23 @@
 <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>说明：</strong></p>
 <ul class="simple">
 <li><p>第一个 <code class="docutils literal notranslate"><span class="pre">publishStaticTF</span></code>：发布从基准流到当前传感器的变换（平移+旋转）</p></li>
 <li><p>第二个 <code class="docutils literal notranslate"><span class="pre">publishStaticTF</span></code>：发布从物理frame到光学frame的变换（纯旋转，无平移）</p></li>
 <li><p><code class="docutils literal notranslate"><span class="pre">frame_id_[stream_index]</span></code>：物理坐标系frame名称（如 <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>：光学坐标系frame名称（如 <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code>）</p></li>
 </ul>
-</section>
-<section id="id6">
-<h2><span class="section-number">4.6.6. </span>特殊处理左右红外摄像头<a class="headerlink" href="#id6" title="Link to this heading"></a></h2>
+<p><strong>特殊处理左右红外摄像头</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">&amp;&amp;</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>说明：</strong></p>
 <ul class="simple">
 <li><p>左右红外摄像头在设备坐标系中关于中心平面对称</p></li>
 <li><p>通过 <code class="docutils literal notranslate"><span class="pre">abs()</span></code>确保X轴偏移为正值，保持几何一致性</p></li>
 </ul>
-</section>
-<section id="id7">
-<h2><span class="section-number">4.6.7. </span>发布深度到其他传感器的外参<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
+<p><strong>发布深度到其他传感器的外参</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">&amp;&amp;</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">&amp;&amp;</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
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 <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">&quot;depth_to_color_extrinsics&quot;</span><span class="p">);</span>
@@ -509,11 +687,11 @@
 <span class="p">}</span>
 </pre></div>
 </div>
-<p><strong>说明：</strong></p>
 <ul class="simple">
 <li><p>通过TF发布变换关系</p></li>
 </ul>
 </section>
+</section>
 </section>
 
 
@@ -521,14 +699,14 @@
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           <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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@@ -151,34 +151,31 @@
 <li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<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#id2">4.4.2.2. 函数解析</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
-<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
+<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
+<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
 </ul>
 </li>
 </ul>
@@ -1003,7 +1000,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
       </span></p>
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@@ -6,7 +6,7 @@
   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
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-  <title>4.10. 在ROS 2中启用和可视化点云 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+  <title>4.8. 在ROS 2中启用和可视化点云 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
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 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#tf">4.4.1.1. 查看TF树结构</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.4.1.2. 使用rviz2可视化TF树</a></li>
 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<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#id2">4.4.2.2. 函数解析</a></li>
 </ul>
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 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#id3">4.10.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id4">4.10.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
+<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">4.8. 在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#id1">4.8.1. 启用深度点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#id2">4.8.1.1. 启用深度点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="#id3">4.8.2. 启用彩色点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#id4">4.8.2.1. 启用彩色点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
 </ul>
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@@ -353,7 +350,7 @@
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+      <li class="breadcrumb-item active"><span class="section-number">4.8. </span>在ROS 2中启用和可视化点云</li>
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@@ -364,19 +361,19 @@
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   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</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="ros-2">
-<h1><span class="section-number">4.10. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
+<h1><span class="section-number">4.8. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
 <p>本节演示如何从相机节点启用点云数据输出并使用RViz2进行可视化。</p>
 <section id="id1">
-<h2><span class="section-number">4.10.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<h2><span class="section-number">4.8.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
 <section id="id2">
-<h3><span class="section-number">4.10.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
+<h3><span class="section-number">4.8.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
 <p>要激活深度信息的点云数据流，使用以下命令：</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>
 </div>
 </section>
 <section id="rviz2">
-<h3><span class="section-number">4.10.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
+<h3><span class="section-number">4.8.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
 <p>运行上述命令后，执行以下步骤可视化深度点云：</p>
 <ol class="simple">
 <li><p>打开RViz2。</p></li>
@@ -392,16 +389,16 @@
 </section>
 </section>
 <section id="id3">
-<h2><span class="section-number">4.10.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2><span class="section-number">4.8.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
 <section id="id4">
-<h3><span class="section-number">4.10.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<h3><span class="section-number">4.8.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
 <p>要启用彩色点云功能，输入以下命令：</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="id5">
-<h3><span class="section-number">4.10.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
+<h3><span class="section-number">4.8.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
 <p>要可视化彩色点云数据：</p>
 <ol class="simple">
 <li><p>执行命令后启动RViz2。</p></li>
@@ -422,7 +419,7 @@
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           </div>
           <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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zh/source/4_application_guide/services.html

@@ -151,34 +151,31 @@
 <li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
 </ul>
 </li>
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-<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#tf">4.4.1.1. 查看TF树结构</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.4.1.2. 使用rviz2可视化TF树</a></li>
 </ul>
 </li>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<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#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<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#id2">4.4.2.2. 函数解析</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
-<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
+<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
+<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
 </ul>
 </li>
 </ul>
@@ -648,7 +645,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
       </span></p>
   </div>
 

zh/source/4_application_guide/tf_transformations.html

@@ -6,7 +6,7 @@
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-  <title>4.8. 从坐标系A到坐标系B的TF变换： &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+  <title>4.6. 从坐标系A到坐标系B的TF变换： &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
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 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#tf">4.4.1.1. 查看TF树结构</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.4.1.2. 使用rviz2可视化TF树</a></li>
 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<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#id2">4.4.2.2. 函数解析</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
+<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
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@@ -353,7 +350,7 @@
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-      <li class="breadcrumb-item active"><span class="section-number">4.8. </span>从坐标系A到坐标系B的TF变换：</li>
+      <li class="breadcrumb-item active"><span class="section-number">4.6. </span>从坐标系A到坐标系B的TF变换：</li>
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@@ -364,7 +361,7 @@
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   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</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="abtf">
-<h1><span class="section-number">4.8. </span>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="Link to this heading"></a></h1>
+<h1><span class="section-number">4.6. </span>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="Link to this heading"></a></h1>
 <p>在Orbbec相机中，原点（0,0,0）取自camera_link位置</p>
 <p>我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换</p>
 <p>此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。</p>
@@ -379,15 +376,15 @@
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@@ -151,34 +151,31 @@
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+<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#tf">4.4.1.1. 查看TF树结构</a></li>
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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zh/source/5_advanced_guide/configuration/depth_work_mode_switch.html

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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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zh/source/5_advanced_guide/multi_camera/multi_camera.html

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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
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zh/source/7_developer_guide/building_a_Debian_Package.html

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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
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zh/source/7_developer_guide/developer_guide.html

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zh/source/7_developer_guide/migration_guide.html

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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
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-      <span class="lastupdated">最后更新于 2025年10月28日 05:46:56.
+      <span class="lastupdated">最后更新于 2025年10月29日 02:21:35.
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