using kinect instead of lidar?

[ghost]

in your example code you use lidar = myLidarModel() and then in the loop: scan = readLidar()

Any chance for replacing that with calls to kinect depth data?

[simondlevy]

That sounds like an excellent new feature, but it would unfortunately involve quite a bit of work. Currently, BreezySLAM is set up to work with a rotating lidar that returns a sequence of distances, each associated with a horizontal scan angle. This is pretty much the opposite of Kinect, which returns a 2D image (vertical, horizontal) of distances based on a fixed-orientation scan.

[ghost]

Hi Simon Thanks for your answer. Assuming I have the depth map I could generate the distance/angle data for a single vertical row and fill the missing angles with "None"-distancies? As I have a movement mode where the whole robot rotates 360 degrees I could

• with a big timelag - emulate the lidar? Will it help that I could also provide the distance data for each of the 240 vertical angles too? Can you point me to a description of what data structure and values I would need to provide to emulate the lidar data or do you consider this a non-working attempt? Regards, Juerg

2018-03-08 19:30 GMT+01:00 Simon D. Levy notifications@github.com:

That sounds like an excellent new feature, but it would unfortunately involve quite a bit of work. Currently, BreezySLAM is set up to work with a rotating lidar that returns a sequence of distances, each associated with a horizontal scan angle. This is pretty much the opposite of Kinect, which returns a 2D image (vertical, horizontal) of distances based on a fixed-orientation scan.

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