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Hello,

I have successfully set-up ros so that a point cloud is sent to rviz every 100ms. It looks great, however, the visualization is mirrored about the z-y axis.

I have already tried using static_transform_publisher (http://wiki.ros.org/tf#static_transform_publisher), but this only allows me to rotate or translate. Is there a way to reflect/mirror about an axis using static_transform_publisher?

Any help is appreciated.

Originally posted by super248 on ROS Answers with karma: 21 on 2018-04-06

Post score: 2

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Comment by lucasw on 2018-04-06:
A generic open source point cloud scaling node/let could be useful for other people (or does it already exist?)- every axis could have a scale factor that could also be negative, allowing for mirroring and other uses.

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You could look at fixing the mirroring upstream- in whatever is generating the point cloud, or create a node that subscribes to your mirrored point cloud and flips each point as needed then republishes, look at http://wiki.ros.org/pcl_ros#Subscribing_to_point_clouds for the starting point.

Originally posted by lucasw with karma: 8729 on 2018-04-06

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