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Height Map xyz coordinates

asked 2018-03-04 19:44:32 -0500

Karim Ahmt gravatar image

updated 2018-03-04 23:03:21 -0500

jayess gravatar image

Hello, I'm using velodyne height map , so far i am struggling to only view the x,y,z coordinates of obstacles. even once I try to edit on heightmap.cpp file nothing changing in output. what could be best way to as to only view the coordinates without the raw data matrix. if anyone can clarify to me what is meant by offset for instance this means that the value of the x is on zero position in the raw data matrix.

  seq: 22
  stamp: 
    secs: 1518471618
    nsecs: 669806000
  frame_id: velodyne
height: 1
width: 480
fields: 
  - 
    name: x
    offset: 0
    datatype: 7
    count: 1
  - 
    name: y
    offset: 4
    datatype: 7
    count: 1
  - 
    name: z
    offset: 8
    datatype: 7
    count: 1
  - 
    name: intensity
    offset: 16
    datatype: 7
    count: 1
is_bigendian: False
point_step: 32
row_step: 15360

thank you

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What topic is the output you posted from?

stevejp gravatar imagestevejp ( 2018-03-05 08:52:03 -0500 )edit

velodyne_obstacles topic

Karim Ahmt gravatar imageKarim Ahmt ( 2018-03-05 09:22:26 -0500 )edit

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answered 2018-03-05 18:58:19 -0500

joq gravatar image

You can use the PointCloud Library to unpack the data from those messages.

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yea, that's what I am trying to do.I am new using ROS. so even when I try to update the .cpp file nothing changes in the output. or is there such a way to unpack the point cloud using terminal commands. thank you

Karim Ahmt gravatar imageKarim Ahmt ( 2018-03-05 19:01:07 -0500 )edit

That link tells you how to do that in C++ code. There are also many tutorials.

joq gravatar imagejoq ( 2018-03-05 19:20:42 -0500 )edit

well, i recorded that a bag from VLP-16, which don't record RGB data. will the libraries still work.thank you

Karim Ahmt gravatar imageKarim Ahmt ( 2018-03-06 16:15:38 -0500 )edit

Yes, it just needs x, y, z

joq gravatar imagejoq ( 2018-03-06 22:11:38 -0500 )edit

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Asked: 2018-03-04 19:44:32 -0500

Seen: 216 times

Last updated: Mar 05 '18