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Looking for LaserScan data processing library

asked 2018-10-27 17:12:23 -0500

AutoCar gravatar image


I am looking for a software library that can processing 2D lidar data in the LaserScan message, such as scan segmentation (splitter), line, arc, circle detection/tracking etc, some like the PCL, but for 2D lidar data.


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answered 2018-10-28 05:24:47 -0500

This obstacle_detector package does exactly what you're looking for. I think you'll have to build this from source to get it running, apart from that you should be able to get it up and running pretty quickly.

Just a note, this will always be detecting arcs, never circles because a laser scanner by definition can at most see half a circle at single point in time. So strictly speaking this will detect lines and arcs.

Hope this helps.

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Thanks a lot. Will try it.

AutoCar gravatar imageAutoCar ( 2018-10-29 11:54:49 -0500 )edit

I found obstacle_extract only works with PointCloud message, not the LaserScan message.

AutoCar gravatar imageAutoCar ( 2018-10-30 20:59:12 -0500 )edit

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Asked: 2018-10-27 17:12:23 -0500

Seen: 154 times

Last updated: Oct 28 '18