ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

1

(Rviz <-> point cloud from pcd) transformation

asked 2015-12-04 04:17:32 -0500

Jay4Ros
35 ●5 ●7 ●12

updated 2015-12-04 04:18:35 -0500

Hi!

I am reading in point clouds from *.pcd-files and am visualizing them using RViz. Unfortunately, the point cloud is weirdly oriented:

Look here (the "right" side of the point cloud is actually the floor)

I believe that this is because ROS uses a different coordinate system than PCL (or at least than how these pointclouds have been recorded). How do I display my point cloud correctly?

After reading through some tutorials I think I need to implement a tf-broadcaster that transforms between a "world" frame (ROS coordinate system) and a "pcd" frame (coordinate system used in my files). Then I can set the world-frame as fixed frame in Rviz and as a transformation for the PointCloud2 display my broadcasted transformation. Is that correct? Or is there a more elegant way of getting Rviz to display the point cloud "correctly"?

Thanks!

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

1

answered 2015-12-04 08:03:44 -0500

flag of Germany

26 ●1 ●2 ●5

If you don't want to use a static_transform_publisher you could use one of the pcl_ros::transformPointCloud functions either with a tf::Transform object representing the needed transformation or an Eigen::Matrix4f.

See pcl_ros::transformPointCloud or pcl_ros::transformPointCloud

edit flag offensive delete link

Comments

I ended up using the static_transform_publisher, I did not know about that one yet :)

Jay4Ros ( 2015-12-07 09:27:19 -0500 )edit

Question Tools

1 follower

Stats

Asked: 2015-12-04 04:17:32 -0500

Seen: 1,439 times

Last updated: Dec 04 '15

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2