How to get the lidar measurement points in the map frame? about laser_scan_matcher HOT 2 CLOSED

Hi @ywiyogo ,

Firstly, in the "karto_tools.h" file, a class called "LocalizedRangeScan" is implemented to store the data of a laser scan. If you want to get the scan points in the map frame, you can call the function "pScan->GetPointReadings" to access the point readings in global coordinates.

Secondly, when you have a point in world coordinates, you must scale it into grid coordinates before you can access the value at the grid map. The function "WorldToGrid" implemented in the "Grid" class can help you.

from laser_scan_matcher.

Thanks @nkuwenjian , it works now!

from laser_scan_matcher.