laserptzcloud
Drivers

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

Last updated 12 September 2005 21:38:45