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void broadcastKinectTransform(const tf::Transform& transform,
const std::string& kinect_rgb_optical,
const std::string& ground,
tf::TransformBroadcaster& broadcaster,
const tf::TransformListener& listener) {
std::string link;
if (listener.getParent(kinect_rgb_optical, ros::Time(0), link) && listener.getParent(link, ros::Time(0), link)) {
tf::StampedTransform tfTransform;
listener.lookupTransform (link, kinect_rgb_optical, ros::Time(0), tfTransform);
broadcaster.sendTransform(tf::StampedTransform(transform * tfTransform.asBt().inverse(), ros::Time::now(), ground, link));
} else {
broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), ground, kinect_rgb_optical));
}
}
在上述函數中不推薦使用.asBt()
,應該怎麼做才能完成轉換?如何將tf::Transform
轉換爲btTransform
,反之亦然?如何將tf :: Transform轉換爲btTransform