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‎en/_sources/source/4_application_guide/coordinate_and_tf.md.txt‎

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### ROS1 Camera TF Calculation and Publication Mechanism
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#### Core Function: `OBCameraNode::calcAndPublishStaticTransform()`
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#### Core Function: [OBCameraNode::calcAndPublishStaticTransform()](https://github.com/orbbec/OrbbecSDK_ROS1/blob/3a59c7a6d3037fc41454b573e0b6701103fde67a/src/ob_camera_node.cpp#L2013)
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The camera node uses this function to compute and publish all static transforms between sensors.
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