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How to set the distance between points in pointclouds

asked 2020-07-26 22:32:27 -0500

lucien gravatar image

Hi,

I am using gazebo depth kinect camera plugin to display my pointclouds. I was wondering if there is any ways that I can set the distance between points in the pointcloud itself. For example beam spacing is: 0.39 degree (horizontal) and 0.19 degree (vertical).

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answered 2020-07-27 08:18:19 -0500

ahcorde gravatar image

Hello,

With the depth kinect camera plugin you can change: widht, height, FOV and some others. But you can try with other type of sensor, for example range sensor. This will generate the cloud but not the RGB data.

<ray>
   <scan display="true">
      <horizontal>
      <samples>641</samples>
      <resolution>1.0</resolution>
      <min_angle>-0.5</min_angle>
      <max_angle>0.5</max_angle>
      </horizontal>
      <!--vertical samples="1" resolution="1.0" min_angle="-0.5236" max_angle="0.5236" /-->
    </scan>
    <range>
      <min>0.15</min>
      <max>30.0</max>
    </range>
  </ray>
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Asked: 2020-07-26 22:32:27 -0500

Seen: 16 times

Last updated: Jul 27