ROS::在某个时间点利用TF做坐标变换
geometry_msgs::PointStamped global_frame_point;
geometry_msgs::PointStamped sensor_frame_point;
try
{
/***************************
sensor_frame_point:原始数据
global_frame_point:变换后的数据
global_frame_:要变换到的坐标系
stamp:要使用的某时刻的tf关系时间戳
frame_id:The frame in which to treat the transform as constant in time.(此处为原始数据的坐标系。)
*****************************/
this->tf_->transform(sensor_frame_point, global_frame_point, global_frame_, stamp, frame_id);
}
catch (tf2::TransformException& ex)
{
ROS_ERROR("%s",ex.what());
return;
}