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I updated the the old version of the LaserVisual.cc

Now the problem changed: In my consideration the first transformation, is the pose of the model. So the new origin of the coordinate system should be in (0,0,0.5). The next transformation (pose of sensor) should shift the origin for the sensors and then rotate the axis in the right direction.... Am I wrong with this?

When a rotation is entered in the sensor pose something strange happens. The coordinate system is rotated first (-pi/2), then the translation of the model is done (+0.5 in z = -0.5 in x). THEN the translation of the sensor (0.51 in z) is realised in the initial coordinate system...

image description

I updated the the old version of the LaserVisual.cc

Now the problem changed: In my consideration the first transformation, is the pose of the model. So the new origin of the coordinate system should be in (0,0,0.5). The next transformation (pose of sensor) should shift the origin for the sensors and then rotate the axis in the right direction.... Am I wrong with this?

When a rotation is entered in the sensor pose something strange happens. The coordinate system is rotated first (-pi/2), then the translation of the model is done (+0.5 in z = -0.5 in x). THEN the translation of the sensor (0.51 in z) is realised in the initial coordinate system...

image description

In Addition: if I manually change the position of my model, the start point of the laser changes position automatically

image description

I updated the the old version of the LaserVisual.cc

Now the problem changed: In my consideration the first transformation, is the pose of the model. So the new origin of the coordinate system should be in (0,0,0.5). The next transformation (pose of sensor) should shift the origin for the sensors and then rotate the axis in the right direction.... Am I wrong with this?

When a rotation is entered in the sensor pose something strange happens. The coordinate system is rotated first (-pi/2), then the translation of the model is done (+0.5 in z = -0.5 in x). THEN the translation of the sensor (0.51 in z) is realised in the initial coordinate system...

image description

In Addition: if I manually change the position of my model, model manually, the start point of the laser changes its position automaticallyautomatically:

image description