PointCloudRelativeFromPoseStamped

../../_images/pointcloud_relative_from_pose_stamped.png

Transform pointcloud relative from the specified pose stamped. It is useful for preprocessing of registration to detect initial pose.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Original point cloud.

  • ~input/pose (geometry_msgs/PoseStamped)

    Pose from which original point cloud will be transformed.

Publishing Topics

  • ~output (sensor_msgs/PointCloud2)

    Transformed point cloud.

Parameters

  • ~approximate_sync (Bool, default: False)

    Whether to allow approximate synchronization of input topics.

Sample

roslaunch jsk_pcl_ros_utils sample_pointcloud_relative_from_pose_stamped.launch