[ros-users] transformPointCloud

Sanja Popovic sanja at MIT.EDU
Wed Jul 21 15:59:14 UTC 2010


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 at code.ros.org [ros-users-bounces at code.ros.org] On Behalf Of Tully Foote [tfoote at willowgarage.com]
Sent: Tuesday, July 20, 2010 10:29 PM
To: ros-users at code.ros.org
Subject: Re: [ros-users] transformPointCloud

    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.


On Tue, Jul 20, 2010 at 1:53 PM, Sanja Popovic <sanja at mit.edu<mailto:sanja at mit.edu>> 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.

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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com<mailto:tfoote at willowgarage.com>
(650) 475-2827

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