{"action":"created","issue":{"url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/180","labels_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/180/labels{/name}","comments_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/180/comments","events_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/180/events","html_url":"https://github.com/code-iai/iai_kinect2/issues/180","id":116094930,"number":180,"title":"Should I rotate the cloud after subscribing the ROS topic?","user":{"login":"MarcoFierimonte","id":12981741,"avatar_url":"https://avatars.githubusercontent.com/u/12981741?v=3","gravatar_id":"","url":"https://api.github.com/users/MarcoFierimonte","html_url":"https://github.com/MarcoFierimonte","followers_url":"https://api.github.com/users/MarcoFierimonte/followers","following_url":"https://api.github.com/users/MarcoFierimonte/following{/other_user}","gists_url":"https://api.github.com/users/MarcoFierimonte/gists{/gist_id}","starred_url":"https://api.github.com/users/MarcoFierimonte/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MarcoFierimonte/subscriptions","organizations_url":"https://api.github.com/users/MarcoFierimonte/orgs","repos_url":"https://api.github.com/users/MarcoFierimonte/repos","events_url":"https://api.github.com/users/MarcoFierimonte/events{/privacy}","received_events_url":"https://api.github.com/users/MarcoFierimonte/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":4,"created_at":"2015-11-10T12:11:10Z","updated_at":"2015-11-17T15:16:39Z","closed_at":null,"body":"Hi,\r\n\r\nI'd like to create a personal ROS TF  tree but I don't understand very well how works coordinates systems between iai_kinect2 and PCL.\r\nFor istance:\r\n1) if I subscribe to \"kinect2/sd/points\" topic, my ROS callback will receive a  sensor_msgs::PointCloud2 message. \r\n2) After that I use pcl::fromROSMsg() to convert the message in a pcl::PointCloud<pcl::PointXYZRGB> object.\r\n3) I do some processing on the cloud\r\n4) Finally I convert the cloud in a sensor_msgs::PointCloud2 using pcl::toROSMsg() and publish it on a ROS topic.\r\n\r\nWhy after point 2) if I use a pcl viewer to show the cloud is inverted? Have I to rotate the cloud using something like pcl::transformPointCloud () ?\t\r\n\r\nThanks in advance :)"},"comment":{"url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/comments/157399881","html_url":"https://github.com/code-iai/iai_kinect2/issues/180#issuecomment-157399881","issue_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/180","id":157399881,"user":{"login":"MarcoFierimonte","id":12981741,"avatar_url":"https://avatars.githubusercontent.com/u/12981741?v=3","gravatar_id":"","url":"https://api.github.com/users/MarcoFierimonte","html_url":"https://github.com/MarcoFierimonte","followers_url":"https://api.github.com/users/MarcoFierimonte/followers","following_url":"https://api.github.com/users/MarcoFierimonte/following{/other_user}","gists_url":"https://api.github.com/users/MarcoFierimonte/gists{/gist_id}","starred_url":"https://api.github.com/users/MarcoFierimonte/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/MarcoFierimonte/subscriptions","organizations_url":"https://api.github.com/users/MarcoFierimonte/orgs","repos_url":"https://api.github.com/users/MarcoFierimonte/repos","events_url":"https://api.github.com/users/MarcoFierimonte/events{/privacy}","received_events_url":"https://api.github.com/users/MarcoFierimonte/received_events","type":"User","site_admin":false},"created_at":"2015-11-17T15:16:39Z","updated_at":"2015-11-17T15:16:39Z","body":"Hi,\r\n\r\nI don't understand if your kinect2_viewer do some rotation of the point cloud. Because using it I have: \r\n![kinect2_viewer_sd_cloud](https://cloud.githubusercontent.com/assets/12981741/11215309/d83fc478-8d45-11e5-89eb-30fb01504eaf.png)\r\n\r\ninstead using my simple viewer I obtain the point cloud upside down:\r\n![my_cloud_viewer_sd_cloud_1](https://cloud.githubusercontent.com/assets/12981741/11215355/f9bbd86c-8d45-11e5-898a-9566fdc5ebd1.png)\r\n\r\nfinally with RVIZ: \r\n![rviz_sd_cloud_1](https://cloud.githubusercontent.com/assets/12981741/11215378/0f447df6-8d46-11e5-8325-774f4fe02034.png)\r\n\r\nIs this result correct? Should I rotate the cloud obtained from \"/kinect2/sd/points\"?\r\n\r\n"}}