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Increase the range of available min & max angle. #90

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Increase the range of available min & max angle. #90

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431e279
fix angle calculation
Apr 12, 2024
c2125f4
fixed
Apr 18, 2024
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42 changes: 34 additions & 8 deletions src/pointcloud_to_laserscan_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -195,6 +195,7 @@ void PointCloudToLaserScanNodelet::cloudCb(const sensor_msgs::PointCloud2ConstPt
cloud_out = cloud_msg;
}

int n = 0;
// Iterate through pointcloud
for (sensor_msgs::PointCloud2ConstIterator<float> iter_x(*cloud_out, "x"), iter_y(*cloud_out, "y"),
iter_z(*cloud_out, "z");
Expand Down Expand Up @@ -226,20 +227,45 @@ void PointCloudToLaserScanNodelet::cloudCb(const sensor_msgs::PointCloud2ConstPt
continue;
}

double angle = atan2(*iter_y, *iter_x);
if (angle < output.angle_min || angle > output.angle_max)
double angle_origin = atan2(*iter_y, *iter_x);
// Transforms the angle into the (angle_min, angle_max) range.
double angle = angle_origin + n * 2 * M_PI;
while (angle < output.angle_min)
{
NODELET_DEBUG("rejected for angle %f not in range (%f, %f)\n", angle, output.angle_min, output.angle_max);
++n;
angle = angle_origin + n * 2 * M_PI;
}
if (angle <= output.angle_max)
{
// overwrite range at laserscan ray if new range is smaller
int index = (angle - output.angle_min) / output.angle_increment;
if (range < output.ranges[index])
{
output.ranges[index] = range;
}
continue;
}

// overwrite range at laserscan ray if new range is smaller
int index = (angle - output.angle_min) / output.angle_increment;
if (range < output.ranges[index])
else
{
output.ranges[index] = range;
while (angle > output.angle_max)
{
--n;
angle = angle_origin + n * 2 * M_PI;
}
if (angle >= output.angle_min)
{
// overwrite range at laserscan ray if new range is smaller
int index = (angle - output.angle_min) / output.angle_increment;
if (range < output.ranges[index])
{
output.ranges[index] = range;
}
continue;
}
}
NODELET_DEBUG("rejected for angle %f not in range (%f, %f)\n", angle, output.angle_min, output.angle_max);
}

pub_.publish(output);
}
} // namespace pointcloud_to_laserscan
Expand Down