From point cloud to laser scan
Hi i can get the point cloud data from the OpenNI driver now, like to convert it into a laser scan.How do you do it? Any suggestions or directions that i can take?
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Hi i can get the point cloud data from the OpenNI driver now, like to convert it into a laser scan.How do you do it? Any suggestions or directions that i can take?
The pointcloud_to_laserscan package should do what you need.
<launch> <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager" respawn="true"> <remap from="cloud_in" to="/laser_ReadOut/cloud_pcl"/> <remap from="cloud_out" to="cloud_throttled"/> </node>
<node pkg="nodelet" type="nodelet" name="laserOut" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true"> <remap from="cloud" to="/cloud_throttled"/> </node>
<node pkg="nodelet" type="nodelet" name="kinect_laser_narrow" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true"> <remap from="cloud" to="/cloud_throttled"/> <remap from="scan" to="/narrow_scan"/> </node> </launch>
Asked: 2011-07-11 14:24:44 -0500
Seen: 2,924 times
Last updated: Oct 29 '12
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