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range_max sensor value introduced but not used #924

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S-A-M-J opened this issue Feb 1, 2024 · 2 comments · Fixed by #943
Closed

range_max sensor value introduced but not used #924

S-A-M-J opened this issue Feb 1, 2024 · 2 comments · Fixed by #943

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@S-A-M-J
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S-A-M-J commented Feb 1, 2024

I was wondering why in point_cloud_xyz.cpp in line 112 convertDepth is called but there is no way to set the max_sensor range that is part of the function based on a parameter given to the nodelet. I mean why implement the max sensor range variable and then not make it usable?

The option to set this parameter when calling convertDepth is not used in a single nodelet definition and would be a really useful tool for map generation. Perhaps someone can shed some light on that choice.

@mikeferguson
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I'm thinking this is some sort of oversight, but it's likely nobody knows why at this point.

A PR that adds a parameter to enable this behavior would be accepted (we shouldn't change the default behavior).

@PhilippPolterauer
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I tried tackling this issue with the PR #943. I would highly appreciate if you could have a look, and discuss with me some further steps.

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3 participants