Fix bug in clipping of block laser depth values #902
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Added block laser clipping test in ce8f33c |
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While writing the test I discovered that the problem is a little worse than I first reported. Without this PR all ranges from Test world output without this PR output with this PR |
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Without this PR all ranges from gazebo_ros_block_laser are wrong; they're all minRange too big.
While a fix, this change seems to big for a released distro, since downstream users may already be compensating for this difference. How do you feel about retargeting this to noetic?
Ranges were clipped to maxRange - minRange when they should have been clipped to only maxRange Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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@chapulina rebased and retargeted at |
* Fix bug in block laser with large min range * Add block laser clipping test * REP-117 clipping Ranges were clipped to maxRange - minRange when they should have been clipped to only maxRange Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
This fixes a bug where range values near the max range of a depth camera are incorrectly reported as max range. The range value was being clipped to
(-infinity, maxRange-minRange], but it should be clipped to[minRange, maxRange]. Range readings pastmaxRange - minRangewere reported asmaxRange.Before this pull request the range visualization in gazebo is correct, but the published point cloud in RViz shows all max range.
After this pull request the point cloud in RViz shows the correct depths.
I'd like to add a test, but I haven't looked through the test code in this repo yet so I'm not yet sure where to add it.