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<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>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros1-tf-tools">4.4.4. Using ROS1 TF Tools</a><ul>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-the-tf-tree-in-rviz">4.4.4.2. Visualize the TF Tree in rviz</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros1-tf-tools">4.4.3. Using ROS1 TF Tools</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-the-tf-tree-in-rviz">4.4.3.2. Visualize the TF Tree in rviz</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros1-camera-tf-calculation-and-publication-mechanism">4.4.5. ROS1 Camera TF Calculation and Publication Mechanism</a><ul>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros1-camera-tf-calculation-and-publication-mechanism">4.4.4. ROS1 Camera TF Calculation and Publication Mechanism</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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![module in rviz2](../image/application_guide/image1.png)
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### TF from coordinate A to coordinate B:
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In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
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Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
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Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
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Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz:
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```bash
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roslaunch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
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```
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![module in rviz2](../image/application_guide/image2.png)
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<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-the-tf-tree-in-rviz">4.4.4.2. Visualize the TF Tree in rviz</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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<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>
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<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-the-tf-tree-in-rviz">4.4.4.2. Visualize the TF Tree in rviz</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS Robot Coordinate System vs Camera Optical Coordinate System</a></li>
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