LaserScanner rayCastTo stops to bounding box

morse-simulator / morse

The Modular OpenRobots Simulation Engine

http://morse-simulator.github.io/

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LaserScanner rayCastTo stops to bounding box #457

Open PierrickKoch opened 10 years ago

PierrickKoch commented 10 years ago

Following Johannes Horvath email on morse-users, we might want to implement a LaserScanner from a DepthCamera

dc_vs_ls

legend blue: DepthCamera, white: LaserScanner

http://www.blender.org/documentation/blender_python_api_2_69_1/bge.types.KX_GameObject.html#bge.types.KX_GameObject.rayCastTo

severin-lemaignan commented 10 years ago

You want to have a look the the ROS node depthimage_to_laserscan and re-implement it in Python within MORSE.

adegroote commented 10 years ago

I'm note really sure we want do that. I'm afraid that it will be more computing expensive and not really precise (due to the way how is encoded z-buffer in OpenGL).

To "fix" the current issue, we "just" need to set proper bounding box to table and other stuff. But it may imply some extra physics cost (through generally it is not our bottleneck).

severin-lemaignan commented 10 years ago

I would prefer to keep this issue open, since its a very real issue. Either:

we provide better assets with better bounding boxes
or we investigate the sampling of the Z-buffer (why do you think this would be computationally expensive? regarding the accuracy, you may be right, but it is worth testing).

PierrickKoch commented 7 years ago

c/p mail to Johannes Horvath on morse-users (15 June 2016 at 14:04):

laser = DepthCamera()
laser.properties(cam_width=720, cam_height=1, cam_far=80, cam_near=1, cam_focal=25.0)
laser.frequency(50)
laser.translate(x=2.1, z=1.91)
laser.rotate(y=-12*math.pi/180)
laser.profile()
robot.append(laser)

You might need to arrange the cam_focal property to get the desired resolution.