X Y and Z coordinates in LaserScan
How can I get the three points from the LaserScan?
Asked by S.Yildiz on 2018-10-01 03:49:16 UTC
Answers
The points in the LaserScan message are stores in polar coordinates in a fairly compressed way to save space.
You'll need to loop through the ranges array calculating the angle for that specific point using the equation:
angle = angle_min + (i * angle_increment)
where i is the index within the ranges array.
This will give you the polar coordinate of the point which you can convert to a 2D Cartesian point using the usual method here. The Z coordinates of laser scan points are always zero because this message type stores 2D horizontal laser scan data.
Hope this helps.
Asked by PeteBlackerThe3rd on 2018-10-01 07:05:40 UTC
Comments
Do you mean the X Y Z coordinates of an obstacle detected by your laser ?
Asked by Delb on 2018-10-01 03:58:19 UTC
@S.Yildiz sorry if I sound rude but I saw you posting a lot of questions and it seems to me like you're not even trying to search for the answer first by yourself. There is a chance somebody else has already asked this question in the past. This applies for any other forum like stackoverflow etc.
Asked by l4ncelot on 2018-10-01 07:48:31 UTC
No I'm searching for answers but can't find any. Then my last hope is the forum. And I'm also a newby, so please understand my position.
Asked by S.Yildiz on 2018-10-02 01:17:34 UTC
@S.Yildiz ok no problem, I get it. I was at the same place some time ago. I was just ensuring you're at least trying on your own. Wish you luck with your project.
Asked by l4ncelot on 2018-10-02 01:43:25 UTC