laserptzcloud

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

• none

Provides

• pointcloud3d

Requires

• laser
• ptz

Configuration requests

• None (yet)

Configuration file options

Example

driver
(
  name "laserptzcloud"
  provides ["pointcloud3d:0"]
  requires ["laser:0" "ptz:0"]
)

Author

Radu Bogdan Rusu