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Any idea to obtain object distance or size from Velodyne point cloud?

asked 2016-02-24 05:44:14 -0500

krishnaece1505 gravatar image

Hi, I am working on VLP 16 velodyne data and I would like to detect the size of an object from the point cloud. I can calculate the size of the object if I obtain the distance and vice versa using simple trigonometry (since angular resolution is known). Since, lidars are laser beams, I am curious if ROS provides access to ToF values of the laser beams so that I can calculate distance from it? Or is there any better way to detect the size of an object or its distance from the lidar point cloud?

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answered 2016-02-24 16:52:09 -0500

joq gravatar image

The velodyne_points point cloud is a 3D representation in units of meters (the ROS standard). The trigonometry is been done by the velodyne_pointcloud package.

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Asked: 2016-02-24 05:44:14 -0500

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Last updated: Feb 24 '16