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 | 1 | initial version |
You've got the right API, although http://docs.ros.org/indigo/api/pcl_ros/html/namespacepcl__ros.html#aad1ce4ad90ab784aae6158419ad54d5f would be easier.
How is your transform tree setup? Make sure you understand the differences between regular frames and optical type frames (http://www.ros.org/reps/rep-0103.html#suffix-frames).
If I understand correctly, you have PointCloud data in base_link, which you want to compare to an Image in the camera_depth frame. Since a camera frame will typically be oriented z-forward, x-up, y-left, if you set 'camera_depth' to your fixed-frame in rviz and view the PointCloud, it will indeed be tilted.
| | 2 | No.2 Revision |
You've got the right API, although http://docs.ros.org/indigo/api/pcl_ros/html/namespacepcl__ros.html#aad1ce4ad90ab784aae6158419ad54d5f would be easier.
How is your transform tree setup? Make sure you understand the differences in convention between regular frames and optical type optical-related frames (http://www.ros.org/reps/rep-0103.html#suffix-frames).
If I understand correctly, you have PointCloud data in base_link, which you want to compare to an Image in the camera_depth frame. Since a camera frame will typically be oriented z-forward, x-up, y-left, if you set 'camera_depth' to your fixed-frame in rviz and view the PointCloud, it will indeed be tilted.
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