[ros-users] correct range-image creation

[Martin, L]

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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