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coordinate of velodyne data

asked 2014-03-25 04:06:19 -0500

keygeorge gravatar image

hi there!i need help again......i just want to construct a height_map with velodyne data.Before defining the size of cells and the origin of coordinate in my grids,i think i have to know what coordinate does velodyne use to define the data it acquires.More specificly,which direction does the x axis point as well as y and z?And where is the coordinate origin?When i use rostopic echo command to find out the values of the velodyne points,i discover that all of them are positive and the minimum is zero (no negative values).Is that making sense?thank you.

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Have you tried looking at the pointclouds in rviz? Should help you figure out the coordinate system. To help, add a "Pose" display in the same frame_id as you see in the header of the velodyne messages.

jbinney gravatar image jbinney  ( 2014-03-25 21:03:22 -0500 )edit

I have the same question . Have you solved it ?

Lau gravatar image Lau  ( 2014-08-03 04:40:34 -0500 )edit

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answered 2019-10-11 09:53:13 -0500

chaoshydra gravatar image

According to the answer here, the coordinate system is listed as it states and I can confirm.

As for read velodyne data, echo the topic (I presume velodyne-points) is not going to help as it is showing the raw data. You can follow instruction on here on converting raw data to readable array or just Rviz it.

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Asked: 2014-03-25 04:06:19 -0500

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Last updated: Mar 25 '14