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AtsushiSakai/tf_listener_sample.cpp

Created March 23, 2013 23:49
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座標変換ライブラリtfのlistenerサンプルコード
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tf_listener_sample.cpp
#include "tf/transform_listener.h"
tf::TransformListener tflistener;
//それぞれの座標系におけるレーザの点群のデータ変数
sensor_msgs::PointCloud laserPointsRobot;
sensor_msgs::PointCloud laserPointsGlobal;
//robot座標系におけるレーザ点群の情報の取得
laserPointsRobot=getLaserPoints();
//レーザの点群をrobot座標系からglobal座標系に変換
//変換されたデータはlaserPointsGlobalに格納される．
tflistener.transformPointCloud("robot",laserPointsRobot.header.stamp,laserPointsRobot,"global",laserPointsGlobal);
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