Using Point Cloud from a Lidar Bloc

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Hello
I'm currently working on a project and i need to use a lidar bloc. I already created an Unreal Engines environment and in inserted it with the bloc Scene Configuration but i need to use the informations from the lidar and i don't know how to do it. I'm using now the bloc Simulation 3D Lidar from the UAV toolbox wich sends me a point cloud. My first question is : do I use the good bloc to have the distance between my lidar and the possible obstacles and if yes how do i use my point cloud to have the information between the lidar and obstacles?
Best Regards

Accepted Answer

Jianxin Sun
Jianxin Sun on 14 Feb 2022
Edited: Jianxin Sun on 14 Feb 2022
Hi Gaetan,
For your first question, Simulation 3D Lidar block returns two types of information. By default it outputs the point cloud data that presents the 3 dimensional obstacle points where the lidar rays hit obstacles. Optionally, you can configure the block to output the distance to those obstacle points using the "Distance outport" block parameter.
Thanks,
Jianxin
  1 Comment
Gaetan Chauvel
Gaetan Chauvel on 19 Feb 2022
Thank you for your answer. Indeed I didtn't see this part. But now when I activate this output, i have a matrix of 32 by 2250 points and I don't know how to use it to only have the coordinates on x,y and z for each second.

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