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