depthimage_to_laserscan outputs laserscan upside down

asked 2015-09-02 14:25:18 -0600

miguel gravatar image

Hi everyone, Im having trouble with depthimage_to_laserscan, its essentially upside down, if i try rotate the TF by 180 degrees the map is offset from the laserscan? is there anyway to flip the depthimage_to_laserscan?

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Did you try to flip your depth image?

VitaliyProoks gravatar imageVitaliyProoks ( 2015-09-04 02:31:04 -0600 )edit

How is that done?

miguel gravatar imagemiguel ( 2015-09-13 05:13:42 -0600 )edit

Use OpenCV function flip : http://docs.opencv.org/modules/core/d...

See this post for details http://stackoverflow.com/questions/16...

VitaliyProoks gravatar imageVitaliyProoks ( 2015-09-13 20:55:32 -0600 )edit

I know there is a way with OpenCV but this would consume much more processing power flipping each depth image?

miguel gravatar imagemiguel ( 2015-09-14 00:02:31 -0600 )edit

This will not affect performance at all if you are working on a desktop or on a laptop.

VitaliyProoks gravatar imageVitaliyProoks ( 2015-09-14 00:23:28 -0600 )edit

The other way to do image processing is by means of image_transport but I did not find a method for image flipping. Or you can try image_rotate package http://wiki.ros.org/image_rotate but it does the same opencv operations.

VitaliyProoks gravatar imageVitaliyProoks ( 2015-09-14 00:25:22 -0600 )edit

The depth camera is on a Raspberry Pi.I will try that, thanks for the help.

miguel gravatar imagemiguel ( 2015-09-16 13:56:26 -0600 )edit