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zh/source/4_application_guide/application_guide.html
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</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 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_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
</ul>
</li>
@@ -331,6 +331,7 @@
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
</ul>
</li>
</ul>
@@ -418,7 +419,7 @@
<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30日 05:44:33.
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
</span></p>
</div>
zh/source/4_application_guide/compressed_image.html
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</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 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_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
</ul>
</li>
@@ -331,6 +331,7 @@
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
</ul>
</li>
</ul>
@@ -382,7 +383,7 @@
<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30日 05:44:33.
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
</span></p>
</div>
zh/source/4_application_guide/coordinate_and_tf.html
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</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="#id3">4.4.4. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#obcameranode-calcandpublishstatictransform">4.4.4.1. 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="#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id4">4.4.4.2. 函数解析</a></li>
</ul>
</li>
@@ -331,6 +331,7 @@
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
</ul>
</li>
</ul>
@@ -448,7 +449,7 @@
<section id="id3">
<h2><span class="section-number">4.4.4. </span>相机TF计算和发布机制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<section id="obcameranode-calcandpublishstatictransform">
<h3><span class="section-number">4.4.4.1. </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>
<h3><span class="section-number">4.4.4.1. </span>核心函数：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><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>
@@ -714,7 +715,7 @@
<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30日 05:44:33.
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
</span></p>
</div>
zh/source/4_application_guide/launch_parameters.html
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</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 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_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
</ul>
</li>
@@ -331,6 +331,7 @@
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
</ul>
</li>
</ul>
@@ -1000,7 +1001,7 @@
<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30日 05:44:33.
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
</span></p>
</div>
zh/source/4_application_guide/point_cloud.html
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@@ -160,7 +160,7 @@
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 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_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
</ul>
</li>
@@ -331,6 +331,7 @@
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
</ul>
</li>
</ul>
@@ -427,7 +428,7 @@
<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30日 05:44:33.
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
</span></p>
</div>
zh/source/4_application_guide/services.html
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@@ -160,7 +160,7 @@
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 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_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
</ul>
</li>
@@ -331,6 +331,7 @@
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
</ul>
</li>
</ul>
@@ -645,7 +646,7 @@ 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30日 05:44:33.
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
</span></p>
</div>
zh/source/4_application_guide/topics.html
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</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.4. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 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_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.4.2. 函数解析</a></li>
</ul>
</li>
@@ -331,6 +331,7 @@
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
</ul>
</li>
</ul>
@@ -492,7 +493,7 @@
<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30日 05:44:33.
<span class="lastupdated">最后更新于 2025年10月31日 02:59:39.
</span></p>
</div>