converting reference frames with points frame - acfr/snark GitHub Wiki

points-frame is used to perform coordinate frame transformations on streaming csv/bin cartesian data.

It is a very powerful real-time capable utility that can perform chains of transformations, which can either be static/constant (like a fixed sensor-to-body transform), or dynamic (like the moving body-to-world transform of a moving platform). Chains can involve mixtures of both, which is great for robotics.

For now, the best reference is the '''get started with data streams''' tutorial. Search for 'points-frame' on that page.