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ob-yalian
2025-10-31 02:59:43 +00:00
parent 6c8672b7bb
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en/_sources/source/4_application_guide/coordinate_and_tf.md.txt
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@@ -6,7 +6,6 @@
![module in rviz2](../image/application_guide/image1.png)
### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
* Point of View:
@@ -96,7 +95,7 @@ In rviz2:
### Camera TF Calculation and Publishing Mechanism
#### Core Function: `OBCameraNode::calcAndPublishStaticTransform()`
#### Core Function: [OBCameraNode::calcAndPublishStaticTransform()](https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475)
The camera node uses this function to calculate and publish all static transforms between sensors.
@@ -340,4 +339,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
```
- Publishes raw extrinsics via topic for advanced alignment and registration