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Added alternate version of depthtolaserscan
Günter Niemeyer authored
This (i) makes sure at least 'minimum_contacts' happen at the closest
range, and (ii) averages those contacts.  This is an attempt to reject
noisy camera data (older RealSense, likely broken).  But I'm not
convinced it is fundamentally better - despite the averaging, the
ranges are tempporally no less stable.
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