Re: [ros-users] correct range-image creation

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

On Fri, Oct 29, 2010 at 9:58 AM, Martin, L <kollaps2001@hotmail.com> wrote:

>
> 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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--
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827