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Relative pose between two tf::Transforms

asked 2012-01-16 06:10:56 -0500

ph4nt0m gravatar image


how can I get the relative pose between two tf::Transforms? I know that tf::TransformListener can do this if you call lookupTransform with identical target- and source-frame, but with different target- and source-times, but how can I achieve this without any messages if I only have two tf::Transforms (each representing a different point in time) of an odometry-source for example?

Thanks in advance!

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answered 2012-01-16 06:41:02 -0500

dornhege gravatar image

Basically invert one and multiply the other.

tf1.inverseTimes(tf2) should do that.

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Is it tf1 wrt tf2 or tf2 wrt tf1?

hc gravatar image hc  ( 2017-08-18 05:07:57 -0500 )edit

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Asked: 2012-01-16 06:10:56 -0500

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Last updated: Jan 16 '12