how to convert the point cloud to baselink
I used stereo_image_proc to generate point cloud2, and now I want transform it to base_link coordinate system.
According to this topic:
Point clouds are generated in the optical frame of the left imager
But after measurement, it is found that the origin of the point cloud coordinate system(camera_frame) is not the optical center of the left camera
How can I determine the transform relationship from camera_frame to base_link? Thanks.
Can you explain that more- what you measured and what you found? (Edit your original question if you need more space than allowed in these comments)