Distance from PointCloud

plafferty

Hello

Thank you ever so much for your help last month.
I now have my Livox Avia Lidar integrated with my systems and it is publishing PointCloud data to the ROS driver as expected.

Are you able to give me some insight into how I might be able to calculate the distance to an object using the raw PointCloud data?
Livox Viewer and RVIZ has this logic built-in but I need to publish the distance over ROS to make it accessible to another script.

I have searched ROS Wiki, Google, many sources online and continue to do so.

Your help is much appreciated.

Kind Regards
Patrick Lafferty

Livox Support

The coordinate origin of the xyz value in pointcloud2 data is the center of the device window glass, you can try to use the spatial trigonometric function to calculate the distance between Lidar and object.