is depthimage_to_laserscan limited to forward facing cameras?
The documentation for pointcloudtolaserscan says:
"If you're trying to create a virtual laserscan from your RGBD device, and your sensor is forward-facing, you'll find depthimagetolaserscan will be much more straightforward and efficient..."
The forward-facing requirement for depthimagetolaserscan is non-intuitive. Won't the TF take care of that?
Asked by dcurtis on 2018-01-29 00:30:16 UTC
Comments
Don't think it is required, but usually it is a good idea for the same reason you look forward most of the time when driving a car, riding or walking. Also please note that not all nodes (amcl?) are able to handle multiple sensors, e.g. one front one rear.
Asked by Humpelstilzchen on 2018-01-29 03:08:09 UTC
@dcurtis:
not a native speaker, but to me this sentence conveys the fact that
depthimage_to_laserscanis a good candidate node in that case, not that it requires forward-facing cameras.Asked by gvdhoorn on 2018-01-29 03:16:30 UTC
I think the key is in the sentence that follow in the doc: "(...) However, if your sensor is angled, or you have some other esoteric use case, you may find this node (pointcloud_to_laserscan) to be very helpful!"
Asked by Humpelstilzchen on 2018-01-31 01:48:07 UTC