Generating Obstacle Point Cloud

[Hateley123]

I see several of your packages take in the obstacle_pointcloud as an input to either do validation or mapping etc. But how do you actually get this point cloud? I have the point cloud and i passed it through lidar centerpoint then validation so I have a list of detected objects. But which of your packages actually create a segmented obstacle point cloud that can be used.

[amadeuszsz]

Hi @Hateley123
Please, check the nodes path in interactive diagram.
If you are looking for a pointcloud segmentation, you might want to see also pointpainting.

[liuXinGangChina]

Hello @Hateley123

The output of lidar centerpoint node include the semantic info of object and the bbox， if that’s what you want ， just extract them from the output msg

happy hacking

心刚