i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-12 19:20:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactor coordinate systems documentation

Browse Source
This commit is contained in:
ob-yalian
2025-10-29 10:54:15 +08:00
parent cd2decdd73
commit c4823ec850
2 changed files with 50 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/source/4_application_guide/coordinate_and_tf.md
+25 -22
View File
@@ -1,4 +1,28 @@
## ROS2 Robot Coordinate System vs Camera Optical Coordinate System
## Coordinate Systems and TF Transforms
### Camera sensor structure
![module in rviz2](../image/application_guide/image3.png)
![module in rviz2](../image/application_guide/image1.png)
### TF from coordinate A to coordinate B:
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![module in rviz2](../image/application_guide/image2.png)
### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
* Point of View:
* Imagine standing behind the camera and looking forward.
@@ -332,24 +356,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
- Publishes raw extrinsics via topic for advanced alignment and registration
### Camera sensor structure
![module in rviz2](../image/application_guide/image3.png)
![module in rviz2](../image/application_guide/image1.png)
### TF from coordinate A to coordinate B:
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![module in rviz2](../image/application_guide/image2.png)
docs/zh/source/4_application_guide/coordinate_and_tf.md
+25 -23
View File
@@ -1,4 +1,28 @@
## ROS2机器人坐标系 vs 相机光学坐标系
## 坐标系和 TF 变换
### 相机传感器结构
![module in rviz2](../image/application_guide/image3.png)
![module in rviz2](../image/application_guide/image1.png)
### 从坐标系A到坐标系B的TF变换：
在Orbbec相机中，原点（0,0,0）取自camera_link位置
我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换
此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。
Gemini335模块的RGB传感器和右红外传感器静态TF变换示例，如rviz2中所示：
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![rviz2中的模块](../image/application_guide/image2.png)
### ROS2机器人坐标系 vs 相机光学坐标系
* 视角：
* 想象我们站在相机后面，向前看。
@@ -345,25 +369,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
```
- 通过TF发布变换关系
### 相机传感器结构
![module in rviz2](../image/application_guide/image3.png)
![module in rviz2](../image/application_guide/image1.png)
### 从坐标系A到坐标系B的TF变换：
在Orbbec相机中，原点（0,0,0）取自camera_link位置
我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换
此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。
Gemini335模块的RGB传感器和右红外传感器静态TF变换示例，如rviz2中所示：
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![rviz2中的模块](../image/application_guide/image2.png)