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Hi,

I need to save a transform (world->Kinect frame) at a specific time, and use this transform to convert a point in world coordinate frame to a point in that old Kinect frame after several seconds.

To do this, I first tried using tf::Listener::transformPoint. However, to my knowledge the only way to save a transform at a specific time is by using tf::lookupTransform, which can save the transform at specific time in tf::Transform type. My problem is that in this tf::Transform type, there is no function such as transformPoint.

Am I left to implement such function myself, or is there a one that is named differently?


Originally posted by bkim on ROS Answers with karma: 86 on 2012-08-24

Post score: 1


Original comments

Comment by bkim on 2012-08-24:
I took a look at time travel tutorial in tf wiki: http://www.ros.org/wiki/tf/Tutorials/Time%20travel%20with%20tf%20%28C%2B%2B%29, but it does not explain about transforming a point.

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1 Answer 1

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The tf::Transform class overloads the * operator. One version takes a tf::Vector3 which is how a point is represented and returns the transformed point.


Originally posted by Lorenz with karma: 22731 on 2012-08-26

This answer was ACCEPTED on the original site

Post score: 4

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