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

How to reflect (or mirror) a point cloud in rviz ?

asked 2018-04-06 06:00:22 -0500

super248 gravatar image


I have successfully set-up ros so that a point cloud is sent to rviz every 100ms. It looks great, however, the visualization is mirrored about the z-y axis.

I have already tried using static_transform_publisher ( ), but this only allows me to rotate or translate. Is there a way to reflect/mirror about an axis using static_transform_publisher?

Any help is appreciated.

edit retag flag offensive close merge delete



A generic open source point cloud scaling node/let could be useful for other people (or does it already exist?)- every axis could have a scale factor that could also be negative, allowing for mirroring and other uses.

lucasw gravatar image lucasw  ( 2018-04-06 15:37:53 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2018-04-06 15:34:43 -0500

lucasw gravatar image

You could look at fixing the mirroring upstream- in whatever is generating the point cloud, or create a node that subscribes to your mirrored point cloud and flips each point as needed then republishes, look at for the starting point.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2018-04-06 06:00:22 -0500

Seen: 810 times

Last updated: Apr 06 '18