From: Gonzalo F. P. P. <gfp...@gm...> - 2011-08-12 23:19:28
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Hi all, I have a little question regarding the data of a log file saved by the writelog of Player, The documentation of the logged data of a laser [1] says that the format of the log is: scan_id, min_angle, max_angle, resolution, max_range, count, data and a line of the logged file is: 0000000010.300 0 6665 laser 00 001 001 0064 -1.5708 +1.5708 +0.00870247 +8.0000 0361 8.000 0 8.000 0 8.000 the angular resolution here is 0.00870247 rad. But with min_angle and max_angle the "fov" of the laser is pi, and if there are 361 readings it should be (2*pi)/360 ~= 0.03333 rad. The Stage model of the laser says define sicklaser laser ( # laser-specific properties # factory settings for LMS200 # range_min 0.0 range_max 8.0 fov 180.0 samples 361 #samples 90 # still useful but much faster to compute # generic model properties color "blue" size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet ) How the Stage or Player compute the resolution saved in the log file?? What am I missing? Thanks in advance. - [1] http://playerstage.sourceforge.net/doc/Player-3.0.2/player/group__player__driver__writelog__laser.html -- Gonzalo F. Perez Paina Centro de Investigación en Informática para la Ingeniería, CIII. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Maestro M. López esq. Cruz Roja Argentina. CP X5016ZAA gp...@sc... |