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## ROS2 Robot Coordinate System vs Camera Optical Coordinate System
## Coordinate Systems and TF Transforms
### Camera sensor structure
![module in rviz2](../image/application_guide/image3.png)
![module in rviz2](../image/application_guide/image1.png)
### TF from coordinate A to coordinate B:
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![module in rviz2](../image/application_guide/image2.png)
### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
* Point of View:
* Imagine standing behind the camera and looking forward.
@@ -332,24 +356,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
- Publishes raw extrinsics via topic for advanced alignment and registration
### Camera sensor structure
![module in rviz2](../image/application_guide/image3.png)
![module in rviz2](../image/application_guide/image1.png)
### TF from coordinate A to coordinate B:
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![module in rviz2](../image/application_guide/image2.png)
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -370,7 +371,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -428,11 +429,12 @@
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -528,7 +530,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -378,7 +379,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -684,7 +685,7 @@ thead th {
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
en/source/1_overview/orbbecsdk_overview.html
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. 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="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. 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="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
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@@ -385,7 +386,7 @@
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. 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="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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@@ -456,7 +457,7 @@
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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@@ -392,7 +393,7 @@
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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@@ -388,11 +389,12 @@
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@@ -417,7 +419,7 @@
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
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@@ -349,7 +350,7 @@
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@@ -359,8 +360,26 @@
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
<div itemprop="articleBody">
<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="ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">
<h1><span class="section-number">4.4. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h1>
<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="coordinate-systems-and-tf-transforms">
<h1><span class="section-number">4.4. </span>Coordinate Systems and TF Transforms<a class="headerlink" href="#coordinate-systems-and-tf-transforms" title="Link to this heading"></a></h1>
<section id="camera-sensor-structure">
<h2><span class="section-number">4.4.1. </span>Camera sensor structure<a class="headerlink" href="#camera-sensor-structure" title="Link to this heading"></a></h2>
<p><img alt="module in rviz2" src="../../_images/image3.png" /></p>
<p><img alt="module in rviz2" src="../../_images/image1.png" /></p>
</section>
<section id="tf-from-coordinate-a-to-coordinate-b">
<h2><span class="section-number">4.4.2. </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></h2>
<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>
<p>Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
</pre></div>
</div>
<p><img alt="module in rviz2" src="../../_images/image2.png" /></p>
</section>
<section id="ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">
<h2><span class="section-number">4.4.3. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Point of View:</p>
<ul>
@@ -376,10 +395,11 @@
<li><p>All data published in the wrapper topics is optical data taken directly from the camera sensors.</p></li>
<li><p>Static and dynamic TF topics publish optical and ROS coordinate systems so users can transform between them.</p></li>
</ul>
</section>
<section id="using-ros2-tf-tools">
<h2><span class="section-number">4.4.1. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.4.4. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2>
<section id="view-tf-tree-structure">
<h3><span class="section-number">4.4.1.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.4.4.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3>
<p>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
@@ -422,7 +442,7 @@
</div>
</section>
<section id="visualize-tf-tree-in-rviz2">
<h3><span class="section-number">4.4.1.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.4.4.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3>
<p>Use rviz2 to visualize the TF tree and relative frame poses in real time:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
</pre></div>
@@ -437,9 +457,9 @@
</section>
</section>
<section id="camera-tf-calculation-and-publishing-mechanism">
<h2><span class="section-number">4.4.2. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2>
<h2><span class="section-number">4.4.5. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2>
<section id="core-function-obcameranode-calcandpublishstatictransform">
<h3><span class="section-number">4.4.2.1. </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></h3>
<h3><span class="section-number">4.4.5.1. </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></h3>
<p>The camera node uses this function to calculate and publish all static transforms between sensors.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">OBCameraNode::calcAndPublishStaticTransform</span><span class="p">()</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -609,7 +629,7 @@
</div>
</section>
<section id="function-breakdown">
<h3><span class="section-number">4.4.2.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3>
<h3><span class="section-number">4.4.5.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3>
<p>Detailed explanation of the code:</p>
<p><strong>Quaternion Initialization and Coordinate Transform</strong></p>
<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>
@@ -677,22 +697,6 @@
</ul>
</section>
</section>
<section id="camera-sensor-structure">
<h2><span class="section-number">4.4.3. </span>Camera sensor structure<a class="headerlink" href="#camera-sensor-structure" title="Link to this heading"></a></h2>
<p><img alt="module in rviz2" src="../../_images/image3.png" /></p>
<p><img alt="module in rviz2" src="../../_images/image1.png" /></p>
</section>
<section id="tf-from-coordinate-a-to-coordinate-b">
<h2><span class="section-number">4.4.4. </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></h2>
<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>
<p>Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
</pre></div>
</div>
<p><img alt="module in rviz2" src="../../_images/image2.png" /></p>
</section>
</section>
@@ -707,7 +711,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
en/source/4_application_guide/launch_parameters.html
+11 -10
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
@@ -999,7 +1000,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
en/source/4_application_guide/point_cloud.html
+11 -10
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
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@@ -468,7 +469,7 @@
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+11 -10
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@@ -150,19 +150,20 @@
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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@@ -410,7 +411,7 @@
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
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@@ -387,7 +388,7 @@ resolutions is as follows:</p>
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<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
en/source/5_advanced_guide/configuration/depth_work_mode_switch.html
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -405,7 +406,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
en/source/5_advanced_guide/configuration/disparity_search_offset.html
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -466,7 +467,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
en/source/5_advanced_guide/configuration/interleave_ae_mode.html
+11 -10
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -430,7 +431,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
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</div>
en/source/5_advanced_guide/configuration/net_camera.html
+11 -10
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -469,7 +470,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -417,7 +418,7 @@ parameter.</p>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
</span></p>
</div>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -437,7 +438,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -465,7 +466,7 @@ by running the following command:</p></li>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
<span class="lastupdated">Last updated on 2025-10-29 02:54:46.
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</div>
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -453,7 +454,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
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en/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -521,7 +522,7 @@ python3<span class="w"> </span>SyncFramesMain.py
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -407,7 +408,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
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</div>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. 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="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. 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="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. 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="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
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@@ -494,7 +495,7 @@
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -405,7 +406,7 @@
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@@ -150,19 +150,20 @@
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
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@@ -428,7 +429,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
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@@ -412,7 +413,7 @@ bash<span class="w"> </span>.make_deb.sh
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<span class="lastupdated">Last updated on 2025-10-29 02:39:33.
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -391,7 +392,7 @@
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -1207,7 +1208,7 @@
<div role="contentinfo">
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</div>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -412,7 +413,7 @@
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en/source/license.html
+11 -10
View File
@@ -148,19 +148,20 @@
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -377,7 +378,7 @@ language governing permissions and limitations under the License.</p>
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