how to convert the point cloud to baselink

I used stereoimageproc to generate point cloud2, and now I want transform it to base_link coordinate system.

Point clouds are generated in the optical frame of the left imager

But after measurement, it is found that the origin of the point cloud coordinate system(camera_frame) is not the optical center of the left camera

How can I determine the transform relationship from cameraframe to baselink? Thanks.

Asked by darylQ on 2021-11-08 02:44:40 UTC

But after measurement, it is found that the origin of the point cloud coordinate system(camera_frame) is not the optical center of the left camera

Can you explain that more- what you measured and what you found? (Edit your original question if you need more space than allowed in these comments)

Asked by lucasw on 2021-11-09 08:25:28 UTC