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YarpOpenraveRGBDSensor remove hard-coded depthWidth/depthHeight pairs #103
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Related: #74 |
Modifying X in
|
Where 1,2,3 are |
In our case, |
Regarding the hard-coding of In the light of "[OpenRAVE-users] Accessing collided body information from lasers" (https://sourceforge.net/p/openrave/mailman/message/20092615/ and http://openrave-users-list.185357.n3.nabble.com/Accessing-collided-body-information-from-lasers-td185850.html) I see the most elegant code would require an upstream PR, and enable something like (note that this is currently not supported, see baseflashlidar3d): if(depthSensorBasePtr->InterfaceBase::SupportsCmd("height"))
{
std::stringstream ssdata;
if( !depthSensorBasePtr->InterfaceBase::SendCommand(std::stringstream("height"), ssdata))
return false;
// parse value
} |
In fact, these values could be computed if we had the correct
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YarpOpenraveRGBDSensor remove hard-coded depthWidth/depthHeight pairs.
Attempt: Via https://github.com/rdiankov/openrave/blob/v0.9.0/plugins/basesensors/baseflashlidar3d.h#L116-L121 we can replace/remove the ugly hard-coded lines:
openrave-yarp-plugins/libraries/YarpPlugins/YarpOpenraveRGBDSensor/IRGBDSensorImpl.cpp
Lines 85 to 121 in 8e7dd25
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