Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Minimal distance to an obstacle using pointcluds

asked 2013-06-27 19:26:35 -0500

Astronaut
302 ●177 ●206 ●214

Hello

I would like know the minimal distance from the robot platform to some obstacle. I have laser, Kinect and IMU as well but would like to use the Kinect. I think PCL library is good start as I dont need any transform of depth images. But Im absolute beginners in this and need some help to start. So I need to install PCL library, yes?? Thank have to find the point in the point clouds with the maximal or minimal values that correspond to the furthest and closest point the object , yes?? Than how to calculate the distance between that point and the robot platform?? Any help??

Thanks

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2014-03-06 02:48:45 -0500

aswin
528 ●32 ●44 ●51

updated 2014-03-06 02:49:28 -0500

You can use openni_launch package for obtaining the kinect pointcloud. Then write a node that subscribes to the topic with a callback pcl::PointCloud < pcl::PointXYZ>. ROS will do the conversion for you. Then just access the Z values to get your minimal distance. One of the ways to implement this is shown here http://wiki.ros.org/pcl_ros

edit flag offensive delete link

add a comment

Question Tools

Stats

Asked: 2013-06-27 19:26:35 -0500

Seen: 1,821 times

Last updated: Mar 06 '14

Minimal distance to an obstacle using pointcluds edit

1 Answer

Question Tools

Stats

Related questions

Minimal distance to an obstacle using pointcluds