Hey!
We are currently developing a sheet of light sensor with (several) line lasers. To create evaluation data and to simulate our robot, I'd like to simulate the laser in gazebo. So given a camera and a pose (plane equation) for the line laser, how can I find out where the laser is visible in the camera image?
One idea was to simulate a laser scanner with a very small radial resolution and then (outside of gazebo) project the laser-scan-message back into my image. This gives nice results, however, I have to notion of occlusion so the simulated view is not correct.
It's possible in gazebo to show the laser plane of a laser scanner, but this visualization does not show up in the simulated camera.
Any ideas?
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