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pcl coordinate system orientation

asked 2013-02-21 17:28:14 -0500

ee.cornwell gravatar image

I am aware that ros uses the positive coordinate system in which x=forward, y=left, and z=up, but can anyone tell me what pcl data uses?

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joq, that's what I thought until I used the function pcl::fromROSMsg() and a pcl passthrough filter. The PCL z parameter pertained to forward direction and y pertainted to the upward direction. I'm speaking in terms of the pcl namespace. Is this correct?

ee.cornwell gravatar image ee.cornwell  ( 2013-02-22 17:33:04 -0500 )edit

Check the header.frame_id field in the message. It may be using an "optical" frame by mistake. See: http://www.ros.org/reps/rep-0103.html#coordinate-frame-conventions

joq gravatar image joq  ( 2013-02-23 03:09:24 -0500 )edit

Thanks for the help!

ee.cornwell gravatar image ee.cornwell  ( 2013-02-23 05:24:06 -0500 )edit

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answered 2013-02-22 14:10:29 -0500

joq gravatar image

The same, in whatever frame of reference the PointCloud2 message specifies.

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Asked: 2013-02-21 17:28:14 -0500

Seen: 2,761 times

Last updated: Feb 22 '13