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I am aware that ros uses the positive coordinate system in which x=forward, y=left, and z=up, but can anyone tell me what pcl data uses?


Originally posted by ee.cornwell on ROS Answers with karma: 108 on 2013-02-21

Post score: 0


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Comment by ee.cornwell on 2013-02-22:
joq, that's what I thought until I used the function pcl::fromROSMsg() and a pcl passthrough filter. The PCL z parameter pertained to forward direction and y pertainted to the upward direction. I'm speaking in terms of the pcl namespace. Is this correct?

Comment by joq on 2013-02-23:
Check the header.frame_id field in the message. It may be using an "optical" frame by mistake. See: http://www.ros.org/reps/rep-0103.html#coordinate-frame-conventions

Comment by ee.cornwell on 2013-02-23:
Thanks for the help!

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The same, in whatever frame of reference the PointCloud2 message specifies.


Originally posted by joq with karma: 25443 on 2013-02-22

This answer was ACCEPTED on the original site

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