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How does cloud_to_laserscan.cpp work

pointcloud_to_laserscan

asked 2011-07-25 15:10:09 -0600

lakshmen
81 ●14 ●17 ●26

updated 2011-07-27 07:27:38 -0600

mmwise

8372 ●45 ●74 ●99 http://www.meloneewise.com/

I have some more qns regarding cloud_to_scan.cpp. the post was previously posted[http://answers.ros.org/question/1561/doubts-about-pointcloud-to-laser-scan] but it was not answered. I am in need of urgent help.

Qn 1)if (output->ranges[index] * output->ranges[index] > range_sq) output->ranges[index] = sqrt(range_sq);, what is this statement trying to do.. not that sure...

qn 2) is the x, y and z in metres?or what are the units for the x,y and z?

qn 3) why is the angle = -atan2(x,z) and not angle = -atan2(z,x)

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answered 2011-07-25 19:37:37 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

All your questions can be answer by reviewing REP 103 Standard Units of Measure and Coordinate Conventions

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sorry, from REP103, qn 2 was answered but not qn 1 and 3... or maybe i can't find it... need more explaination. sorry.

lakshmen ( 2011-07-27 19:03:42 -0600 )edit

At least 3 is also answered. Look at the coordinate axis definitions in the REP and the definition of the tangent function as found in your favorite math book. 1 apparently just limits range readings to some maximum.

Lorenz ( 2011-07-27 21:53:41 -0600 )edit

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Asked: 2011-07-25 15:10:09 -0600

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Last updated: Jul 27 '11

How does cloud_to_laserscan.cpp work edit

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How does cloud_to_laserscan.cpp work