Tully, Thanks for the reply. Transforming individual points was way too slow. I rewrote the node in C++ and it works. - Sanja ________________________________________ From: ros-users-bounces@code.ros.org [ros-users-bounces@code.ros.org] On Behalf Of Tully Foote [tfoote@willowgarage.com] Sent: Tuesday, July 20, 2010 10:29 PM To: ros-users@code.ros.org Subject: Re: [ros-users] transformPointCloud Sanja, The python implementation does not have that method defined. You can do this in approximately one one in python. Note: This is pseudo code but you should get the gist. points_out = [ listener.transformPoint("target_frame", PointStamped(point_cloud.header, p).point for p in point_cloud.points] If you're worried about efficiency you can also use lookupTransform and multiply the matrix. Tully On Tue, Jul 20, 2010 at 1:53 PM, Sanja Popovic > wrote: Dear ROS users, I am trying to use tf with the PointCloud data I have but I keep getting a message that TransformListener has no object attribute transformPointCloud. Is tf for Python just lacking this function or do I need to do more than just importing tf? The same code works for transforming individual points, but PointClouds are the source of trouble. Thanks, Sanja _______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users -- Tully Foote Systems Engineer Willow Garage, Inc. tfoote@willowgarage.com (650) 475-2827