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How to transform a point cloud from camera coordinates to world coordinates

I have a Kinect sensor at about 1.5 meters elevation angled downwards by 40 degrees and which can also pan to arbitrary positions, and I'd like to transform the camera/depth/points point cloud from camera coordinates to world coordinates (or an egocentric world frame) so that I can then produce a correct fake laser scan from a fixed horizontally aligned virtual laser scanner at the base of the robot. How do I do this?

So far I've been trying pcl_ros::transformPointCloud, but without much success. I don't want to actually move the points (as seen in Rviz), merely reassign their coordinates relative to a different frame.

How to transform a point cloud from camera coordinates to world coordinates

I have a Kinect sensor at about 1.5 meters elevation angled downwards by 40 degrees and which can also pan to arbitrary positions, and I'd like to transform the camera/depth/points point cloud from camera coordinates to world coordinates (or an egocentric world frame) so that I can then produce a correct fake laser scan from a fixed horizontally aligned virtual laser scanner at the base of the robot. How do I do this?

So far I've been trying pcl_ros::transformPointCloud, but without much success. I don't want to actually move the points (as seen in Rviz), merely reassign their coordinates relative to a different frame.

How to transform a point cloud from camera coordinates to world coordinates

I have a Kinect sensor at about 1.5 meters elevation angled downwards by 40 degrees and which can also pan to arbitrary positions, and I'd like to transform the camera/depth/points point cloud from camera coordinates to world coordinates (or an egocentric world frame) so that I can then produce a correct fake laser scan from a fixed horizontally aligned virtual laser scanner at the base of the robot. How do I do this?

So far I've been trying pcl_ros::transformPointCloud, but without much success. I don't want to actually move the points (as seen in Rviz), merely reassign their coordinates relative to a different frame.

How to transform a point cloud from camera coordinates to world coordinates

I have a Kinect sensor at about 1.5 meters elevation angled downwards by 40 degrees and which can also pan to arbitrary positions, and I'd like to transform the camera/depth/points point cloud from camera coordinates to world coordinates (or an egocentric world frame) so that I can then produce a correct fake laser scan from a fixed horizontally aligned virtual laser scanner at the base of the robot. How do I do this?

So far I've been trying pcl_ros::transformPointCloud, but without much success. I don't want to actually move the points (as seen in Rviz), merely reassign their coordinates relative to a different frame.

How to transform a point cloud from camera coordinates to world coordinates

I have a Kinect sensor at about 1.5 meters elevation angled downwards by 40 degrees and which can also pan to arbitrary positions, and I'd like to transform the camera/depth/points point cloud from camera coordinates to world coordinates (or an egocentric world frame) so that I can then produce a correct fake laser scan from a fixed horizontally aligned virtual laser scanner at the base of the robot. How do I do this?

So far I've been trying pcl_ros::transformPointCloud, but without much success. I don't want to actually move the points (as seen in Rviz), merely reassign their coordinates relative to a different frame.