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PointCloudLibrary / pcl

Point Cloud Library (PCL)
https://pointclouds.org/
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RangeImageSpherical for 2D LiDAR #3205

Open PPokorski opened 5 years ago

PPokorski commented 5 years ago

Hi!

First of all, I'm posting it here and not in mailing list, because the last activity there was a year ago (but someone already mentioned it somewhere). I'm currently developing a tracking algorithm for 2D laser rangefinders and as I'm a big fan of PCL (some parts are of it are used in my project) I wanted to replace my basic data structure with pcl::RangeImageSpherical, as it seems to be providing almost the same functionality. The problem is, that the aforementioned class was designed with a horizontal and vertical points in mind. Hence, the question: Is it possible to use pcl::RangeImageSpherical as container for a cloud from 2D LiDAR sensor? Maybe set angular_resolution_y to the same value as max_angle_height? Or something else? Thanks for your feedback and advices!

Btw. It's quite annoying that an organized point cloud cannot have height = 1, but that's a different story...

shrijitsingh99 commented 4 years ago

Is it possible to use pcl::RangeImageSpherical as container for a cloud from 2D LiDAR sensor? Maybe set angular_resolution_y to the same value as max_angle_height? Or something else?

That should work, don't see why it won't. Do report back the results.

Btw. It's quite annoying that an organized point cloud cannot have height = 1, but that's a different story...

Yeah a separate issue should be opened for that.

stale[bot] commented 4 years ago

Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.