Build a 3D point cloud from laser and ptz data. More...
Build a 3D point cloud from laser and ptz data.
The laserptztcloud driver reads laser scans from a laser device and PTZ poses from a ptz device, linearly interpolates to estimate the actual pan/tilt pose from which the scan was taken, then outputs messages containing the cartesian 3D coordinates (X,Y,Z in [m]) via a pointcloud3d interface. No additional thread is started. Based on Brian's laserposerinterpolator.
- Compile-time dependencies
- Configuration requests
- None (yet)
- Configuration file options
driver ( name "laserptzcloud" provides ["pointcloud3d:0"] requires ["laser:0" "ptz:0"] )