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</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
</span></p>
</div>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
</span></p>
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zh/source/1_overview/overview.html
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
</span></p>
</div>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
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<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a></li>
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<h1><span class="section-number">4.7. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<p>要访问压缩的彩色图像，可以使用以下命令：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
@@ -365,6 +380,140 @@
<li><p>我们封装器话题中发布的所有数据都是直接从相机传感器获取的光学数据。</p></li>
<li><p>静态和动态TF话题发布光学坐标系和ROS坐标系，使用户能够在两个坐标系之间转换。</p></li>
</ul>
</section>
<section id="ros2-tf">
<h1><span class="section-number">4.5. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h1>
<section id="tf">
<h2><span class="section-number">4.5.1. </span>查看TF树结构<a class="headerlink" href="#tf" title="Link to this heading"></a></h2>
<p>可以使用以下ROS2命令来打印和可视化相机包发布的TF树：</p>
<p><strong>打印所有TF关系：</strong></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
</pre></div>
</div>
<p>这个命令会生成一个 <code class="docutils literal notranslate"><span class="pre">frames.pdf</span></code>文件，展示所有frame之间的层级关系。</p>
<p><img alt="image-20251027111351870" src="../../_images/image4.png" /></p>
<p><strong>查看所有正在发布的TF信息：</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="rviz2tf">
<h2><span class="section-number">4.5.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h2>
<p>在rviz2中可以实时可视化TF树结构和坐标系的相对位置：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
</pre></div>
</div>
<p>在rviz2中：</p>
<ul class="simple">
<li><p>添加 <code class="docutils literal notranslate"><span class="pre">TF</span></code>显示插件</p></li>
<li><p>配置固定框架（Fixed Frame）为 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code>或 <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code></p></li>
<li><p>选择显示的TF框架树</p></li>
</ul>
<p><img alt="image-20251027140652727" src="../../_images/image5.png" /></p>
</section>
</section>
<section id="id1">
<h1><span class="section-number">4.6. </span>相机TF计算和发布机制<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<section id="obcameranode-calcandpublishstatictransform">
<h2><span class="section-number">4.6.1. </span>核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h2>
<p>相机节点通过此函数计算和发布所有传感器之间的静态转换关系。下面是代码的详细解释：</p>
</section>
<section id="id2">
<h2><span class="section-number">4.6.2. </span>四元数初始化与坐标系变换<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
<span class="n">zero_rot</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">);</span>
<span class="n">quaternion_optical</span><span class="p">.</span><span class="n">setRPY</span><span class="p">(</span><span class="o">-</span><span class="n">M_PI</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">,</span><span class="w"> </span><span class="mf">0.0</span><span class="p">,</span><span class="w"> </span><span class="o">-</span><span class="n">M_PI</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="mi">2</span><span class="p">);</span>
</pre></div>
</div>
<p><strong>说明：</strong></p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">quaternion_optical</span></code>：定义光学坐标系到ROS标准坐标系的旋转变换（90度旋转）</p></li>
<li><p>这个旋转将相机光学坐标系（X右、Y下、Z前）转换为ROS标准坐标系（X前、Y左、Z上）</p></li>
</ul>
</section>
<section id="id3">
<h2><span class="section-number">4.6.3. </span>获取设备信息与基准流<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">auto</span><span class="w"> </span><span class="n">base_stream_profile</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">];</span>
<span class="k">auto</span><span class="w"> </span><span class="n">device_info</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">device_</span><span class="o">-&gt;</span><span class="n">getDeviceInfo</span><span class="p">();</span>
<span class="c1">// 通常基准流是深度流(DEPTH)</span>
</pre></div>
</div>
<p><strong>说明：</strong></p>
<ul class="simple">
<li><p>选择一个基准流（通常是深度流），所有其他传感器的变换都相对于这个基准流进行计算</p></li>
</ul>
</section>
<section id="id4">
<h2><span class="section-number">4.6.4. </span>遍历所有流并计算相对变换<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">for</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="o">&amp;</span><span class="n">item</span><span class="w"> </span><span class="o">:</span><span class="w"> </span><span class="n">stream_profile_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">stream_index</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">item</span><span class="p">.</span><span class="n">first</span><span class="p">;</span>
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">stream_profile</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">item</span><span class="p">.</span><span class="n">second</span><span class="p">;</span>
<span class="w"> </span><span class="c1">// 获取该流相对于基准流的外参</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">-&gt;</span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">base_stream_profile</span><span class="p">);</span>
<span class="w"> </span><span class="c1">// 将旋转矩阵转换为四元数</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">// 应用光学坐标系变换：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>说明：</strong></p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">OBExtrinsic</span></code>包含了两个传感器之间的旋转矩阵(<code class="docutils literal notranslate"><span class="pre">rot</span></code>)和平移向量(<code class="docutils literal notranslate"><span class="pre">trans</span></code>)</p></li>
<li><p>通过四元数乘法将光学坐标系变换应用到每个传感器的旋转关系中</p></li>
<li><p>这个变换将相机原生的光学坐标系转换为ROS标准坐标系</p></li>
</ul>
</section>
<section id="id5">
<h2><span class="section-number">4.6.5. </span>发布TF变换<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="c1">// 发布传感器到基准流的变换（在ROS坐标系中）</span>
<span class="n">publishStaticTF</span><span class="p">(</span><span class="n">timestamp</span><span class="p">,</span><span class="w"> </span><span class="n">trans</span><span class="p">,</span><span class="w"> </span><span class="n">Q</span><span class="p">,</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">base_stream_</span><span class="p">],</span><span class="w"> </span><span class="n">frame_id_</span><span class="p">[</span><span class="n">stream_index</span><span class="p">]);</span>
<span class="c1">// 发布传感器到其光学frame的变换</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>说明：</strong></p>
<ul class="simple">
<li><p>第一个 <code class="docutils literal notranslate"><span class="pre">publishStaticTF</span></code>：发布从基准流到当前传感器的变换（平移+旋转）</p></li>
<li><p>第二个 <code class="docutils literal notranslate"><span class="pre">publishStaticTF</span></code>：发布从物理frame到光学frame的变换（纯旋转，无平移）</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">frame_id_[stream_index]</span></code>：物理坐标系frame名称（如 <code class="docutils literal notranslate"><span class="pre">camera_depth_frame</span></code>）</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">optical_frame_id_[stream_index]</span></code>：光学坐标系frame名称（如 <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code>）</p></li>
</ul>
</section>
<section id="id6">
<h2><span class="section-number">4.6.6. </span>特殊处理左右红外摄像头<a class="headerlink" href="#id6" title="Link to this heading"></a></h2>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">stream_index</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">OB_STREAM_IR_RIGHT</span><span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span><span class="n">base_stream_</span><span class="p">.</span><span class="n">first</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">OB_STREAM_DEPTH</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">std</span><span class="o">::</span><span class="n">abs</span><span class="p">(</span><span class="n">trans</span><span class="p">[</span><span class="mi">0</span><span class="p">]);</span>
<span class="p">}</span>
</pre></div>
</div>
<p><strong>说明：</strong></p>
<ul class="simple">
<li><p>左右红外摄像头在设备坐标系中关于中心平面对称</p></li>
<li><p>通过 <code class="docutils literal notranslate"><span class="pre">abs()</span></code>确保X轴偏移为正值，保持几何一致性</p></li>
</ul>
</section>
<section id="id7">
<h2><span class="section-number">4.6.7. </span>发布深度到其他传感器的外参<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">DEPTH</span><span class="p">]</span><span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span><span class="n">enable_stream_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span><span class="n">enable_publish_extrinsic_</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<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">-&gt;</span><span class="n">getExtrinsicTo</span><span class="p">(</span><span class="n">stream_profile_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]);</span>
<span class="w"> </span><span class="k">auto</span><span class="w"> </span><span class="n">ex_msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">obExtrinsicsToMsg</span><span class="p">(</span><span class="n">ex</span><span class="p">,</span><span class="w"> </span><span class="s">&quot;depth_to_color_extrinsics&quot;</span><span class="p">);</span>
<span class="w"> </span><span class="n">depth_to_other_extrinsics_publishers_</span><span class="p">[</span><span class="n">COLOR</span><span class="p">]</span><span class="o">-&gt;</span><span class="n">publish</span><span class="p">(</span><span class="n">ex_msg</span><span class="p">);</span>
<span class="p">}</span>
</pre></div>
</div>
<p><strong>说明：</strong></p>
<ul class="simple">
<li><p>通过TF发布变换关系</p></li>
</ul>
</section>
</section>
@@ -372,14 +521,14 @@
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zh/source/4_application_guide/launch_parameters.html
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@@ -152,18 +152,33 @@
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
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@@ -988,7 +1003,7 @@
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros-2">
<h1><span class="section-number">4.8. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.10. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
<p>本节演示如何从相机节点启用点云数据输出并使用RViz2进行可视化。</p>
<section id="id1">
<h2><span class="section-number">4.8.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.10.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<section id="id2">
<h3><span class="section-number">4.8.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.10.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<p>要激活深度信息的点云数据流，使用以下命令：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="rviz2">
<h3><span class="section-number">4.8.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.10.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<p>运行上述命令后，执行以下步骤可视化深度点云：</p>
<ol class="simple">
<li><p>打开RViz2。</p></li>
@@ -377,16 +392,16 @@
</section>
</section>
<section id="id3">
<h2><span class="section-number">4.8.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.10.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<section id="id4">
<h3><span class="section-number">4.8.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.10.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<p>要启用彩色点云功能，输入以下命令：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="id5">
<h3><span class="section-number">4.8.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.10.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<p>要可视化彩色点云数据：</p>
<ol class="simple">
<li><p>执行命令后启动RViz2。</p></li>
@@ -407,7 +422,7 @@
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
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@@ -633,7 +648,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
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+33 -18
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<h1><span class="section-number">4.6. </span>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.8. </span>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="Link to this heading"></a></h1>
<p>在Orbbec相机中，原点（0,0,0）取自camera_link位置</p>
<p>我们的封装器提供从每个传感器坐标到相机基座（camera_link）之间的静态TF变换</p>
<p>此外，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。</p>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
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</ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
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<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
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</ul>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月23日 09:59:18.
<span class="lastupdated">最后更新于 2025年10月28日 05:42:30.
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
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<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#rviz2tf">4.5.2. 使用rviz2可视化TF树</a></li>
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<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#id3">4.8.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
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<li class="toctree-l2"><a class="reference internal" href="4_application_guide/camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.9. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#id3">4.10.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id5">4.10.2.2. 在RViz2中可视化彩色点云</a></li>
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@@ -366,7 +381,7 @@ language governing permissions and limitations under the License.</p>
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