Transforming Point Cloud
Hi,
I'm trying to transform a Point Cloud from one frame to another. I'm using the method:
transformPointCloud (const std::string &target_frame, const tf::Transform &net_transform, const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
I have built a transform tree and it works great. I can see well transformed image in rviz using base_link as map. I need to do some calculations on the PointCloud2 data so i need the points transformed to camera_depth frame. However when I use this method I'm not getting the result needed when I visualize the camera_depth, the image is tilted and not straight as in base_link.
listener.lookupTransform(*camera_depth, *base_link, ros::Time(0), transform);
pcl_ros::transformPointCloud(*camera_depth, transform, *msg, *msgOut);