FrameTransform
Transformation between two reference coordinate systems in 3D space
Panel Support
FrameTransform is used in the 3D Panel and Image Panel.
Parent Data Structure
FrameTransform appears in the FrameTransforms message data structure.
Data Structure
| Field | Type | Description |
|---|---|---|
| timestamp | time | Timestamp of the transformation |
| parent_frame_id | string | Name of the parent coordinate system |
| child_frame_id | string | Name of the child coordinate system |
| translation | Vector3 | Translation component of the transformation |
| rotation | Quaternion | Rotation component of the transformation |
Reference Implementation
The visualization data structure is framework-independent and can be implemented using any supported message encoding:
| Encoding | Data Structure |
|---|---|
| ROS 1 | foxglove_msgs/FrameTransform |
| ROS 2 | foxglove_msgs/msg/FrameTransform |
| JSON | foxglove.FrameTransform |
| Protobuf | foxglove.FrameTransform |
| FlatBuffers | foxglove.FrameTransform |
| OMG IDL | foxglove::FrameTransform |
You must use the data structure names specified above for the visualization to recognize the data structure.