merge: combine coordinate_systems, camera_sensor_structure, tf_transformations into coordinate_and_tf.md

Author: ob-yalian

docs/en/source/4_application_guide/application_guide.rst

@@ -9,7 +9,5 @@ This chapter introduces application development with the SDK, including launch p
     launch_parameters.md
     services.md
     topics.md
-    coordinate_systems.md
-    camera_sensor_structure.md
-    tf_transformations.md
+    coordinate_and_tf.md
     point_cloud.md

docs/en/source/4_application_guide/camera_sensor_structure.md

@@ -252,3 +252,26 @@ if ((pid == FEMTO_BOLT_PID || pid == FEMTO_MEGA_PID) && enable_stream_[DEPTH] &&
 
 - Identify FEMTO series cameras by PID (FEMTO_BOLT, FEMTO_MEGA).
 - For FEMTO series, additionally compute the transform from depth to color sensor to ensure proper mapping across models.
+
+### 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 rviz:
+
+```bash
+roslaunch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
+```
+
+![module in rviz2](../image/application_guide/image2.png)
+

…_application_guide/coordinate_systems.md …4_application_guide/coordinate_and_tf.mddocs/en/source/4_application_guide/coordinate_systems.md renamed to docs/en/source/4_application_guide/coordinate_and_tf.md docs/en/source/4_application_guide/coordinate_systems.md renamed to docs/en/source/4_application_guide/coordinate_and_tf.md

@@ -9,7 +9,5 @@
     launch_parameters.md
     services.md
     topics.md
-    coordinate_systems.md
-    camera_sensor_structure.md
-    tf_transformations.md
+    coordinate_and_tf.md
     point_cloud.md

docs/en/source/4_application_guide/tf_transformations.md

@@ -253,3 +253,25 @@ if ((pid == FEMTO_BOLT_PID || pid == FEMTO_MEGA_PID) && enable_stream_[DEPTH] &&
 
 - 根据设备PID识别FEMTO系列相机（FEMTO_BOLT、FEMTO_MEGA）
 - 对于FEMTO系列相机，需要额外计算深度到颜色传感器的变换关系，确保了不同相机型号的坐标系正确映射
+
+### 相机传感器结构
+
+![相机模块结构图](../image/application_guide/image3.png)
+
+![相机传感器布局](../image/application_guide/image1.png)
+
+### 从坐标A到坐标B的TF变换：
+
+在奥比中光相机中，原点(0,0,0)取自camera_link位置
+
+我们的包装器提供从每个传感器坐标到相机基座(camera_link)的静态TF变换
+
+同时，它还提供从每个传感器ROS坐标到其对应光学坐标的TF变换。
+
+以下是Gemini335模块的RGB传感器和右红外传感器在rviz中显示的静态TF变换示例：
+
+```bash
+roslaunch orbbec_description view_model.launch model:=gemini_335_336.urdf.xacro
+```
+
+![rviz中的模块](../image/application_guide/image2.png)