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obshenlanzhou
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* All data published in our wrapper topics is optical data taken directly from our camera sensors.
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* static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.
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### Using ROS2 TF Tools
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#### Viewing the TF Tree Structure
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You can use the following ROS2 commands to print and visualize the TF tree published by the camera package:
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**Print all TF relationships:**
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```bash
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ros2 run tf2_tools view_frames
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```
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This command generates a `frames.pdf` file that displays the hierarchical relationships between all frames.
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**View all currently published TF information:**
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```bash
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ros2 topic echo /tf_static
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```
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#### Visualizing TF Tree with rviz2
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You can use rviz2 to visualize the TF tree structure and relative positions of coordinate systems in real-time:
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```bash
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rviz2
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```
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In rviz2:
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- Add the `TF` display plugin
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- Configure the Fixed Frame to `camera_link` or `camera_depth_optical_frame`
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- Select the TF frames to display
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### Camera TF Calculation and Publishing Mechanism
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#### Core Function: `OBCameraNode::calcAndPublishStaticTransform()`
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The camera node calculates and publishes static transformation relationships between all sensors through this function. Below is a detailed explanation of the code:
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#### Quaternion Initialization and Coordinate System Transformation
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```cpp
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tf2::Quaternion quaternion_optical, zero_rot;
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zero_rot.setRPY(0.0, 0.0, 0.0);
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quaternion_optical.setRPY(-M_PI / 2, 0.0, -M_PI / 2);
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```
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**Explanation:**
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- `quaternion_optical`: Defines the rotation transformation from the optical coordinate system to the ROS standard coordinate system (90-degree rotation)
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- This rotation converts the camera optical coordinate system (X right, Y down, Z forward) to the ROS standard coordinate system (X forward, Y left, Z up)
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#### Obtaining Device Information and Base Stream
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```cpp
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auto base_stream_profile = stream_profile_[base_stream_];
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auto device_info = device_->getDeviceInfo();
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// The base stream is typically the DEPTH stream
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```
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**Explanation:**
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- A base stream (typically the depth stream) is selected, and all other sensor transformations are calculated relative to this base stream
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#### Iterating Through All Streams and Calculating Relative Transformations
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```cpp
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for (const auto &item : stream_profile_) {
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auto stream_index = item.first;
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auto stream_profile = item.second;
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// Get the extrinsics of this stream relative to the base stream
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OBExtrinsic ex;
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ex = stream_profile->getExtrinsicTo(base_stream_profile);
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// Convert rotation matrix to quaternion
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auto Q = rotationMatrixToQuaternion(ex.rot);
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// Apply optical coordinate system transformation: Q_new = quaternion_optical * Q * quaternion_optical.inverse()
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Q = quaternion_optical * Q * quaternion_optical.inverse();
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tf2::Vector3 trans(ex.trans[0], ex.trans[1], ex.trans[2]);
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```
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**Explanation:**
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- `OBExtrinsic` contains the rotation matrix (`rot`) and translation vector (`trans`) between two sensors
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- Quaternion multiplication applies the optical coordinate system transformation to each sensor's rotation relationship
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- This transformation converts the camera's native optical coordinate system to the ROS standard coordinate system
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#### Publishing TF Transformations
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```cpp
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// Publish the transformation from sensor to base stream (in ROS coordinate system)
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publishStaticTF(timestamp, trans, Q, frame_id_[base_stream_], frame_id_[stream_index]);
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// Publish the transformation from physical frame to its optical frame
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publishStaticTF(timestamp, zero_trans, quaternion_optical, frame_id_[stream_index],
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optical_frame_id_[stream_index]);
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```
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**Explanation:**
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- First `publishStaticTF`: Publishes the transformation from the base stream to the current sensor (translation + rotation)
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- Second `publishStaticTF`: Publishes the transformation from physical frame to optical frame (pure rotation, no translation)
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- `frame_id_[stream_index]`: Physical coordinate system frame name (e.g., `camera_depth_frame`)
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- `optical_frame_id_[stream_index]`: Optical coordinate system frame name (e.g., `camera_depth_optical_frame`)
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#### Special Handling for Left and Right IR Cameras
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```cpp
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if (stream_index.first == OB_STREAM_IR_RIGHT && base_stream_.first == OB_STREAM_DEPTH) {
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trans[0] = std::abs(trans[0]);
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}
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```
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**Explanation:**
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- Left and right IR cameras are symmetric about the center plane in the device coordinate system
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- Using `abs()` ensures the X-axis offset is positive, maintaining geometric consistency
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#### Publishing Extrinsics from Depth to Other Sensors
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```cpp
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if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) {
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OBExtrinsic ex = base_stream_profile->getExtrinsicTo(stream_profile_[COLOR]);
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auto ex_msg = obExtrinsicsToMsg(ex, "depth_to_color_extrinsics");
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depth_to_other_extrinsics_publishers_[COLOR]->publish(ex_msg);
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}
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```
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**Explanation:**
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- In addition to publishing transformation relationships through TF, raw extrinsic parameters are also published through custom topics
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- This allows users to directly access the camera's intrinsic and extrinsic parameters for high-precision point cloud alignment and depth-color registration
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+26
-11
@@ -148,18 +148,33 @@
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -358,7 +373,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+47
-17
@@ -150,18 +150,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -417,12 +432,27 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -512,7 +542,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
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@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -366,7 +381,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
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+1
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@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -672,7 +687,7 @@ thead th {
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -542,7 +557,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -380,7 +395,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -407,7 +422,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -373,7 +388,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -371,7 +386,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -444,7 +459,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -449,7 +464,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
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</ul>
|
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@@ -380,7 +395,7 @@
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<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
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<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
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</span></p>
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</ul>
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|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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</ul>
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</ul>
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<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a></li>
|
||||
</ul>
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</li>
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</ul>
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
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<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
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<title>4.5. Camera sensor structure — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<title>4.7. Camera sensor structure — OrbbecSDK V2 ROS2 Wrapper documentation</title>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
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<h1><span class="section-number">4.7. </span>Camera sensor structure<a class="headerlink" href="#camera-sensor-structure" title="Link to this heading"></a></h1>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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@@ -337,7 +352,7 @@
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="compressed-image">
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<h1><span class="section-number">4.7. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
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<h1><span class="section-number">4.9. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
|
||||
<p>You can use <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> to compress the image using <code class="docutils literal notranslate"><span class="pre">jpeg</span></code>. Below is an example of how to use it:</p>
|
||||
<p>To access the compressed color image, you can use the following command:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
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<li class="toctree-l3"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
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|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -364,6 +379,141 @@
|
||||
<li><p>All data published in our wrapper topics is optical data taken directly from our camera sensors.</p></li>
|
||||
<li><p>static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="using-ros2-tf-tools">
|
||||
<h1><span class="section-number">4.5. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h1>
|
||||
<section id="viewing-the-tf-tree-structure">
|
||||
<h2><span class="section-number">4.5.1. </span>Viewing the TF Tree Structure<a class="headerlink" href="#viewing-the-tf-tree-structure" title="Link to this heading"></a></h2>
|
||||
<p>You can use the following ROS2 commands to print and visualize the TF tree published by the camera package:</p>
|
||||
<p><strong>Print all TF relationships:</strong></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>This command generates a <code class="docutils literal notranslate"><span class="pre">frames.pdf</span></code> file that displays the hierarchical relationships between all frames.</p>
|
||||
<p><img alt="image-20251027111351870" src="../../_images/image4.png" /></p>
|
||||
<p><strong>View all currently published TF information:</strong></p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/tf_static
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="visualizing-tf-tree-with-rviz2">
|
||||
<h2><span class="section-number">4.5.2. </span>Visualizing TF Tree with rviz2<a class="headerlink" href="#visualizing-tf-tree-with-rviz2" title="Link to this heading"></a></h2>
|
||||
<p>You can use rviz2 to visualize the TF tree structure and relative positions of coordinate systems in real-time:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
|
||||
</pre></div>
|
||||
</div>
|
||||
<p>In rviz2:</p>
|
||||
<ul class="simple">
|
||||
<li><p>Add the <code class="docutils literal notranslate"><span class="pre">TF</span></code> display plugin</p></li>
|
||||
<li><p>Configure the Fixed Frame to <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> or <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code></p></li>
|
||||
<li><p>Select the TF frames to display</p></li>
|
||||
</ul>
|
||||
<p><img alt="image-20251027140652727" src="../../_images/image5.png" /></p>
|
||||
</section>
|
||||
</section>
|
||||
<section id="camera-tf-calculation-and-publishing-mechanism">
|
||||
<h1><span class="section-number">4.6. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h1>
|
||||
<section id="core-function-obcameranode-calcandpublishstatictransform">
|
||||
<h2><span class="section-number">4.6.1. </span>Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h2>
|
||||
<p>The camera node calculates and publishes static transformation relationships between all sensors through this function. Below is a detailed explanation of the code:</p>
|
||||
</section>
|
||||
<section id="quaternion-initialization-and-coordinate-system-transformation">
|
||||
<h2><span class="section-number">4.6.2. </span>Quaternion Initialization and Coordinate System Transformation<a class="headerlink" href="#quaternion-initialization-and-coordinate-system-transformation" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
|
||||
<span class="n">zero_rot</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">);</span>
|
||||
<span class="n">quaternion_optical</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="o">-</span><span class="n">M_PI</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="o">-</span><span class="n">M_PI</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">);</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">quaternion_optical</span></code>: Defines the rotation transformation from the optical coordinate system to the ROS standard coordinate system (90-degree rotation)</p></li>
|
||||
<li><p>This rotation converts the camera optical coordinate system (X right, Y down, Z forward) to the ROS standard coordinate system (X forward, Y left, Z up)</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="obtaining-device-information-and-base-stream">
|
||||
<h2><span class="section-number">4.6.3. </span>Obtaining Device Information and Base Stream<a class="headerlink" href="#obtaining-device-information-and-base-stream" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">auto</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">];</span>
|
||||
<span class="k">auto</span><span class="w"> </span><span class="n">device_info</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">device_</span><span class="o">-></span><span class="n">getDeviceInfo</span><span class="p">();</span>
|
||||
<span class="c1">// The base stream is typically the DEPTH stream</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>A base stream (typically the depth stream) is selected, and all other sensor transformations are calculated relative to this base stream</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="iterating-through-all-streams-and-calculating-relative-transformations">
|
||||
<h2><span class="section-number">4.6.4. </span>Iterating Through All Streams and Calculating Relative Transformations<a class="headerlink" href="#iterating-through-all-streams-and-calculating-relative-transformations" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">for</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="o">&</span><span class="n">item</span><span class="w"> </span><span class="o">:</span><span class="w"> </span><span class="n">stream_profile_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">stream_index</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">item</span><span class="p">.</span><span class="n">first</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">stream_profile</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">item</span><span class="p">.</span><span class="n">second</span><span class="p">;</span>
|
||||
|
||||
<span class="w"> </span><span class="c1">// Get the extrinsics of this stream relative to the base stream</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="p">;</span>
|
||||
<span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">base_stream_profile</span><span class="p">);</span>
|
||||
|
||||
<span class="w"> </span><span class="c1">// Convert rotation matrix to quaternion</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">rotationMatrixToQuaternion</span><span class="p">(</span><span class="n">ex</span><span class="p">.</span><span class="n">rot</span><span class="p">);</span>
|
||||
|
||||
<span class="w"> </span><span class="c1">// Apply optical coordinate system transformation: Q_new = quaternion_optical * Q * quaternion_optical.inverse()</span>
|
||||
<span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">Q</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">.</span><span class="n">inverse</span><span class="p">();</span>
|
||||
|
||||
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Vector3</span><span class="w"> </span><span class="nf">trans</span><span class="p">(</span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span><span class="w"> </span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span><span class="w"> </span><span class="n">ex</span><span class="p">.</span><span class="n">trans</span><span class="p">[</span><span class="mi">2</span><span class="p">]);</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">OBExtrinsic</span></code> contains the rotation matrix (<code class="docutils literal notranslate"><span class="pre">rot</span></code>) and translation vector (<code class="docutils literal notranslate"><span class="pre">trans</span></code>) between two sensors</p></li>
|
||||
<li><p>Quaternion multiplication applies the optical coordinate system transformation to each sensor’s rotation relationship</p></li>
|
||||
<li><p>This transformation converts the camera’s native optical coordinate system to the ROS standard coordinate system</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="publishing-tf-transformations">
|
||||
<h2><span class="section-number">4.6.5. </span>Publishing TF Transformations<a class="headerlink" href="#publishing-tf-transformations" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="c1">// Publish the transformation from sensor to base stream (in ROS coordinate system)</span>
|
||||
<span class="n">publishStaticTF</span><span class="p">(</span><span class="n">timestamp</span><span class="p">,</span><span class="w"> </span><span class="n">trans</span><span class="p">,</span><span class="w"> </span><span class="n">Q</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">],</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]);</span>
|
||||
|
||||
<span class="c1">// Publish the transformation from physical frame to its optical frame</span>
|
||||
<span class="n">publishStaticTF</span><span class="p">(</span><span class="n">timestamp</span><span class="p">,</span><span class="w"> </span><span class="n">zero_trans</span><span class="p">,</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">],</span>
|
||||
<span class="w"> </span><span class="n">optical_frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]);</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>First <code class="docutils literal notranslate"><span class="pre">publishStaticTF</span></code>: Publishes the transformation from the base stream to the current sensor (translation + rotation)</p></li>
|
||||
<li><p>Second <code class="docutils literal notranslate"><span class="pre">publishStaticTF</span></code>: Publishes the transformation from physical frame to optical frame (pure rotation, no translation)</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">frame_id_[stream_index]</span></code>: Physical coordinate system frame name (e.g., <code class="docutils literal notranslate"><span class="pre">camera_depth_frame</span></code>)</p></li>
|
||||
<li><p><code class="docutils literal notranslate"><span class="pre">optical_frame_id_[stream_index]</span></code>: Optical coordinate system frame name (e.g., <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code>)</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="special-handling-for-left-and-right-ir-cameras">
|
||||
<h2><span class="section-number">4.6.6. </span>Special Handling for Left and Right IR Cameras<a class="headerlink" href="#special-handling-for-left-and-right-ir-cameras" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">stream_index</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">OB_STREAM_IR_RIGHT</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">base_stream_</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">OB_STREAM_DEPTH</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">abs</span><span class="p">(</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]);</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>Left and right IR cameras are symmetric about the center plane in the device coordinate system</p></li>
|
||||
<li><p>Using <code class="docutils literal notranslate"><span class="pre">abs()</span></code> ensures the X-axis offset is positive, maintaining geometric consistency</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="publishing-extrinsics-from-depth-to-other-sensors">
|
||||
<h2><span class="section-number">4.6.7. </span>Publishing Extrinsics from Depth to Other Sensors<a class="headerlink" href="#publishing-extrinsics-from-depth-to-other-sensors" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="w"> </span><span class="o">&&</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
||||
<span class="w"> </span><span class="n">OBExtrinsic</span><span class="w"> </span><span class="n">ex</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="o">-></span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]);</span>
|
||||
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="s">"depth_to_color_extrinsics"</span><span class="p">);</span>
|
||||
<span class="w"> </span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="o">-></span><span class="n">publish</span><span class="p">(</span><span class="n">ex_msg</span><span class="p">);</span>
|
||||
<span class="p">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><strong>Explanation:</strong></p>
|
||||
<ul class="simple">
|
||||
<li><p>In addition to publishing transformation relationships through TF, raw extrinsic parameters are also published through custom topics</p></li>
|
||||
<li><p>This allows users to directly access the camera’s intrinsic and extrinsic parameters for high-precision point cloud alignment and depth-color registration</p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
@@ -371,14 +521,14 @@
|
||||
</div>
|
||||
<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
|
||||
<a href="topics.html" class="btn btn-neutral float-left" title="4.3. Available Topics" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
|
||||
<a href="camera_sensor_structure.html" class="btn btn-neutral float-right" title="4.5. Camera sensor structure" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
<a href="camera_sensor_structure.html" class="btn btn-neutral float-right" title="4.7. Camera sensor structure" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
|
||||
</div>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
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|
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="enabling-and-visualizing-point-cloud-in-ros-2">
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<h1><span class="section-number">4.8. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="headerlink" href="#enabling-and-visualizing-point-cloud-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<h1><span class="section-number">4.10. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="headerlink" href="#enabling-and-visualizing-point-cloud-in-ros-2" title="Link to this heading"></a></h1>
|
||||
<p>This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.</p>
|
||||
<section id="enabling-depth-point-cloud">
|
||||
<h2><span class="section-number">4.8.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.10.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
|
||||
<section id="command-to-enable-depth-point-cloud">
|
||||
<h3><span class="section-number">4.8.1.1. </span>Command to Enable Depth Point Cloud<a class="headerlink" href="#command-to-enable-depth-point-cloud" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.10.1.1. </span>Command to Enable Depth Point Cloud<a class="headerlink" href="#command-to-enable-depth-point-cloud" title="Link to this heading"></a></h3>
|
||||
<p>To activate the point cloud data stream for depth information, use the following command:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
|
||||
</pre></div>
|
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</div>
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</section>
|
||||
<section id="visualizing-depth-point-cloud-in-rviz2">
|
||||
<h3><span class="section-number">4.8.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="headerlink" href="#visualizing-depth-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.10.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="headerlink" href="#visualizing-depth-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<p>After running the above command, perform the following steps to visualize the depth point cloud:</p>
|
||||
<ol class="simple">
|
||||
<li><p>Open RViz2.</p></li>
|
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@@ -376,16 +391,16 @@
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</section>
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</section>
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<section id="enabling-colored-point-cloud">
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<h2><span class="section-number">4.8.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
|
||||
<h2><span class="section-number">4.10.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
|
||||
<section id="command-to-enable-colored-point-cloud">
|
||||
<h3><span class="section-number">4.8.2.1. </span>Command to Enable Colored Point Cloud<a class="headerlink" href="#command-to-enable-colored-point-cloud" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.10.2.1. </span>Command to Enable Colored Point Cloud<a class="headerlink" href="#command-to-enable-colored-point-cloud" title="Link to this heading"></a></h3>
|
||||
<p>To enable the colored point cloud feature, enter the following command:</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
|
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</pre></div>
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</div>
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</section>
|
||||
<section id="visualizing-colored-point-cloud-in-rviz2">
|
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<h3><span class="section-number">4.8.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<h3><span class="section-number">4.10.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
|
||||
<p>To visualize the colored point cloud data:</p>
|
||||
<ol class="simple">
|
||||
<li><p>Launch RViz2 following the command execution.</p></li>
|
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
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<h1><span class="section-number">4.6. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h1>
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<h1><span class="section-number">4.8. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h1>
|
||||
<p>In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position</p>
|
||||
<p>Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)</p>
|
||||
<p>Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.</p>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
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<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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@@ -479,7 +494,7 @@
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
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</ul>
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@@ -448,7 +463,7 @@
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<footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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<a href="../4_application_guide/point_cloud.html" class="btn btn-neutral float-left" title="4.8. Enabling and Visualizing Point Cloud in ROS 2" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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@@ -456,7 +471,7 @@
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<div role="contentinfo">
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<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
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@@ -151,18 +151,33 @@
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</ul>
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</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -398,7 +413,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+26
-11
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -375,7 +390,7 @@ resolutions is as follows:</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -393,7 +408,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -454,7 +469,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -418,7 +433,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -457,7 +472,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -405,7 +420,7 @@ parameter.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -425,7 +440,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -453,7 +468,7 @@ by running the following command:</p></li>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -441,7 +456,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+26
-11
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -509,7 +524,7 @@ python3<span class="w"> </span>SyncFramesMain.py
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -395,7 +410,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -500,7 +515,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -553,7 +568,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -386,7 +401,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -379,7 +394,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -482,7 +497,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -393,7 +408,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -416,7 +431,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -400,7 +415,7 @@ bash<span class="w"> </span>.make_deb.sh
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -379,7 +394,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
@@ -151,18 +151,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -1195,7 +1210,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+26
-11
@@ -150,18 +150,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -400,7 +415,7 @@
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
+26
-11
@@ -149,18 +149,33 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html#using-ros2-tf-tools">4.5. Using ROS2 TF Tools</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#viewing-the-tf-tree-structure">4.5.1. Viewing the TF Tree Structure</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#visualizing-tf-tree-with-rviz2">4.5.2. Visualizing TF Tree with rviz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html#camera-tf-calculation-and-publishing-mechanism">4.6. Camera TF Calculation and Publishing Mechanism</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#obtaining-device-information-and-base-stream">4.6.3. Obtaining Device Information and Base Stream</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/camera_sensor_structure.html">4.7. Camera sensor structure</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/tf_transformations.html">4.8. TF from coordinate A to coordinate B:</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.9. Compressed Image</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.10. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.10.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.10.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.10.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.10.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.10.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -365,7 +380,7 @@ language governing permissions and limitations under the License.</p>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-10-23 09:59:15.
|
||||
<span class="lastupdated">Last updated on 2025-10-28 05:42:27.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user