{"action":"closed","issue":{"url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/148","labels_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/148/labels{/name}","comments_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/148/comments","events_url":"https://api.github.com/repos/code-iai/iai_kinect2/issues/148/events","html_url":"https://github.com/code-iai/iai_kinect2/issues/148","id":107573672,"number":148,"title":"Frame Transforms","user":{"login":"dekent","id":1007765,"avatar_url":"https://avatars.githubusercontent.com/u/1007765?v=3","gravatar_id":"","url":"https://api.github.com/users/dekent","html_url":"https://github.com/dekent","followers_url":"https://api.github.com/users/dekent/followers","following_url":"https://api.github.com/users/dekent/following{/other_user}","gists_url":"https://api.github.com/users/dekent/gists{/gist_id}","starred_url":"https://api.github.com/users/dekent/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dekent/subscriptions","organizations_url":"https://api.github.com/users/dekent/orgs","repos_url":"https://api.github.com/users/dekent/repos","events_url":"https://api.github.com/users/dekent/events{/privacy}","received_events_url":"https://api.github.com/users/dekent/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-09-21T18:45:12Z","updated_at":"2015-09-22T15:19:57Z","closed_at":"2015-09-22T15:19:57Z","body":"I noticed that the point cloud topics are based in different frames, e.g. the hd and qhd clouds are in the kinect2_rgb_optical_frame and the sd cloud is in kinect2_ir_optical frame.  What's the transformation between these frames?  Is that part of what's calculated in the extrinsic calibration, and otherwise, is there a urdf or something similar that gives the relationship between these frames?\r\n\r\nThanks!"}}