Hi Martin,
Can you be a little more specific about what looks wrong about those range images to you?
They look like valid from a quick inspection. If you want the same view point as the rendering of the point cloud you need to move the sensor origin to where the viewpoint of your rendering is, not where the laser sensor is.
Tully
Hi,
we ran into a problem when trying to convert a 3D point cloud into a range
image. We tried to convert the following point cloud:
http://ros-users.122217.n3.nabble.com/file/n1807863/screenshot-1288370947.png
in order to do that we set:
RangeImage::CoordinateFrame coordinate_frame = RangeImage::LASER_FRAME;
and
Eigen3::Transform3f sensor_pose_test =
(Eigen3::Transform3f)Eigen3::Translation3f(0.0, 0.0f, 0.0f);
and received the following output:
http://ros-users.122217.n3.nabble.com/file/n1807863/Screenshot-1.png
which looks wrong. The tf of our laser is 0.39 -0.0165 1.267 and if we set
those values for the sensor pose we get:
http://ros-users.122217.n3.nabble.com/file/n1807863/Screenshot-2.png
which is even more wrong. So basically I think we are not really sure how to
set the sensor_pose.
Many thanks for your help!
Martin
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