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4. Application Guide

This chapter introduces application development with the SDK, including launch parameter configuration, ROS2 services, and topics usage.

• 4.1. Launch parameters
  • 4.1.1. Core & Stream Configuration
  • 4.1.2. Sensor Controls
  • 4.1.3. Device, Sync & Advanced Features
  • 4.1.4. Basic & General Parameters
  • 4.1.5. IMU
  • 4.1.6. Depth Filters
• 4.2. All available services for camera control
  • 4.2.1. Stream Control
  • 4.2.2. Sensor & Emitter Control
  • 4.2.3. Device Information & Management
  • 4.2.4. Synchronization & Triggering
  • 4.2.5. Depth Filter Configuration
  • 4.2.6. Data Capture & Calibration Management
• 4.3. Available Topics
  • 4.3.1. Image Streams
  • 4.3.2. Point Cloud Topics
  • 4.3.3. IMU Topics
  • 4.3.4. Device Status & Diagnostics
• 4.4. ROS2 Robot vs Camera Optical Coordination Systems
• 4.5. Using ROS2 TF Tools
  • 4.5.1. Viewing the TF Tree Structure
  • 4.5.2. Visualizing TF Tree with rviz2
• 4.6. Camera TF Calculation and Publishing Mechanism
  • 4.6.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()
  • 4.6.2. Quaternion Initialization and Coordinate System Transformation
  • 4.6.3. Obtaining Device Information and Base Stream
  • 4.6.4. Iterating Through All Streams and Calculating Relative Transformations
  • 4.6.5. Publishing TF Transformations
  • 4.6.6. Special Handling for Left and Right IR Cameras
  • 4.6.7. Publishing Extrinsics from Depth to Other Sensors
• 4.7. Camera sensor structure
• 4.8. TF from coordinate A to coordinate B:
• 4.9. Compressed Image
• 4.10. Enabling and Visualizing Point Cloud in ROS 2
  • 4.10.1. Enabling Depth Point Cloud
  • 4.10.2. Enabling Colored Point Cloud