message: pointcloud_to_depthimage: fixed moving relative transformation
diff: @@ -58,6 +58,7 @@ class PointCloudToDepthImage : public nodelet::Nodelet
  {
  public:
  PointCloudToDepthImage() :
  + listener_(0),
  waitForTransform_(0.1),
  fillHolesSize_ (0),
  fillHolesError_(0.1),
  @@ -144,7 +145,7 @@ private:
  if(!fixedFrameId_.empty())
  {
  // approx sync
  - rtabmap::Transform cloudDisplacement = rtabmap_ros::getTransform(
  + cloudDisplacement = rtabmap_ros::getTransform(
  pointCloud2Msg->header.frame_id,
  fixedFrameId_,
  pointCloud2Msg->header.stamp,
  @@ -170,7 +171,7 @@ private:
  return;
  }
  - rtabmap::Transform localTransform = cloudToCamera*cloudDisplacement;
  + rtabmap::Transform localTransform = cloudDisplacement.inverse()*cloudToCamera;
  rtabmap::CameraModel model = rtabmap_ros::cameraModelFromROS(*cameraInfoMsg, localTransform);
  