Refactor coordinate systems documentation

Author: ob-yalian

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

@@ -1,4 +1,28 @@
-## ROS 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 rviz:
+
+```bash
+roslaunch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
+```
+
+![module in rviz2](../image/application_guide/image2.png)
+
+### ROS Robot Coordinate System vs Camera Optical Coordinate System
 
 * Observation perspective:
   * Imagine we stand behind the camera looking forward.
@@ -253,25 +277,5 @@ 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)
 

docs/zh/source/4_application_guide/coordinate_and_tf.md

@@ -1,4 +1,28 @@
-## ROS机器人坐标系 vs 相机光学坐标系
+## 坐标系和 TF 变换
+
+### 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)
+
+### ROS机器人坐标系 vs 相机光学坐标系
 
 * 观察视角：
   * 想象我们站在相机后面，向前看。
@@ -254,24 +278,4 @@ 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)