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kinect /scan data format

asked 2012-07-18 11:00:45 -0600

Rydel gravatar image

updated 2016-10-24 09:10:08 -0600

ngrennan gravatar image

just a quick question, does the scan (http://www.ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html) topic's ranges array hold 360 values each representing a degree in a circle for the microsoft kinect?

For example, I've realized that index 180 (or 179?) is directly in front of the camera, does that make the next index 1 degree to the left/right?

One more explanation for clarity, sorry i'm having trouble explaining this in a manner i feel is clear, the kinect is vertex A, do depth scan ranges[180] and ranges[181] make a 1 degree angle at vertex A?

Thanks for any help!

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also is there a simple way to overlap the /scan data array onto the rgb data array? I guess I would just need to know what row the /scan topic is using but i'm not sure where to find that.

Rydel gravatar imageRydel ( 2012-07-18 11:05:25 -0600 )edit
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Are you talking about the depth image, a laser scanner or the kinect-transformed-to-laserscan?

Felix Endres gravatar imageFelix Endres ( 2012-07-19 23:15:53 -0600 )edit
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sorry, im talking about the kinect-to-laserscan, a topic called /scan, the one the navigation stack uses to build 2-d maps on the turtlebot; http://www.ros.org/doc/api/sensor_msgs/html/msg/LaserScan.html

Rydel gravatar imageRydel ( 2012-07-22 14:43:08 -0600 )edit

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answered 2012-07-23 00:10:21 -0600

dornhege gravatar image

The values you are looking for are:

float32 angle_min        # start angle of the scan [rad]
float32 angle_max        # end angle of the scan [rad]
float32 angle_increment  # angular distance between measurements [rad]

The i-th range corresponds to angle: angle_min + i * angle_increment. Two consecutive ranges are always angle_increment apart. You should read those out for the kinect specifics, but I doubt that they are full 360 deg as that wouldn't make sense.

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thanks for the info!

Rydel gravatar imageRydel ( 2012-07-23 06:16:16 -0600 )edit

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Asked: 2012-07-18 11:00:45 -0600

Seen: 570 times

Last updated: Jul 23 '12