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The python tf API has transformPoint, and transformPointCloud. I'm not sure why they don't show up in the API docs, but here's how they work:

transformPoint(self, target_frame, ps) method of tf.listener.TransformListener instance
    :param target_frame: the tf target frame, a string
    :param ps: the geometry_msgs.msg.PointStamped message
    :return: new geometry_msgs.msg.PointStamped message, in frame target_frame
    :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

    Transforms a geometry_msgs PointStamped message to frame target_frame, returns a new PointStamped message.


transformPointCloud(self, target_frame, point_cloud) method of tf.listener.TransformListener instance
    :param target_frame: the tf target frame, a string
    :param ps: the sensor_msgs.msg.PointCloud message
    :return: new sensor_msgs.msg.PointCloud message, in frame target_frame
    :raises: any of the exceptions that :meth:`~tf.Transformer.lookupTransform` can raise

    Transforms a geometry_msgs PoseStamped message to frame target_frame, returns a new PoseStamped message.

You'll have to either loop over your vector and create PointStamped objects, or pack all the points into a PointCloud.