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

asked 2018-04-06 06:00:22 -0600

super248 gravatar image

Hello,

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 ( http://wiki.ros.org/tf#static_transfo... ), 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.

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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 imagelucasw ( 2018-04-06 15:37:53 -0600 )edit

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answered 2018-04-06 15:34:43 -0600

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 http://wiki.ros.org/pcl_ros#Subscribi... for the starting point.

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Asked: 2018-04-06 06:00:22 -0600

Seen: 195 times

Last updated: Apr 06 '18