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iralabdisco / ira_laser_tools

All laser type assemblers and manipulators.
BSD 3-Clause "New" or "Revised" License
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Using this package, is it possible to merge two scans lying in 2 different planes? #21

Open milan-r-shah opened 4 years ago

milan-r-shah commented 4 years ago

Hi,

I'm using two different sensors: a stereo camera and 2D Lidar; and both of them are mounted at different heights. Now, I have converted 3D PointCloud of the camera into a 2D scan using 'pointcloud_to_laserscan'. So, now I have scan data from the 2D lidar as well as converted scan data from the camera.

Now, in the package (ira_laser_tools) description, it's mentioned that "Laserscan_merger allows ... same time, single scanning plane, ... . The scanning planes need to be approximately the same. ..." While for Virtual Laserscan, it's mentioned that "Laserscan_virtualizer ... a pointcloud such as the one generated by a multiple scanning plane laser scanner, e.g., a velodyne scanner). ..."

In my case, neither both the Laser sources are in a single plane nor they belong to single entity. So, I just wanted to confirm, can I use this package in my application?

Thanks in advance!