search

ros / geometry2

A set of ROS packages for keeping track of coordinate transforms.
190 stars 278 forks source link

tf2::doTransform<sensor_msgs::PointCloud2> doesn't transform normals and viewpoints #387

Open peci1 opened 5 years ago

peci1 commented 5 years ago

I've noticed that tf2::doTransform from tf2_sensor_msgs only transforms the XYZ fields, and leaves normals and viewpoints untransformed. I can either send a PR adding support for this (if the channels are present), or there should be a warning that the pointcloud was transformed but not its normals and viewpoints. What solution does sound better?

There could also be a new helper function called transformChannel or similar, that would take a pointcloud, channel prefix and transform, and apply the transform to all points in the given channel (appending x, y and z to the channel prefix).

tfoote commented 5 years ago

A PR to extend support for the other channels would be great.

peci1 commented 5 years ago

See #396.