Translating coordinate frames? Or RGBDSLAM axis orientation? [closed]
The short version of my question is: what's the easiest way to invert one axis of a point cloud (pointcloud2)? I.E. change every point from (x,y,z) to (x,y,-z).
My longer question is this: do I have to, or am I doing something wrong?
I'm trying to use a stereo camera with rgbdslam. It looks to me like rgbdslam uses a different axis orientation than what stereo_image_proc is putting out. The stero_image_proc wiki page has a diagram showing the point cloud reference frame as x-axis right, y-axis down, and z-axis forward. It appears that rgbdslam is x-axis left.
I've got everything running, and my point cloud coming from stero_image_proc looks correct in rviz (they are in front of the camera, like they should be) . But in rgbdslam, the points look like they're _behind_ the camera. In other words, they look like they're coming out of the screen at me rather than receding into the screen like they should.
Thanks, -Jon
Hello, Jon Stephan, I'm a beginner. I want to use stereo_image_proc(call it SIP) with rgbdslam too. I can see disparity from image_view receiving topics from SIP. what should be next? rgbdslam seems listening /camera/rgb/image_rect_color & /camera/depth_registered/image_rect, but SIP don't have them