object detection and distance estimation

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Hi

my robot equipped with 3d lidar, RGBD camera, imu, wheel odometer, and RTK-gps. Now i want to use find-2d-object package only for object detection, and then use a 3d lidar for estimating the 3d pose estimation to the detected object. How can i do that? what is the procedure? it is for weeks that I searched about it but did not find useful info.

I am working with ROS kinetic, python 2.7