Velodyne-Lidar-Segmentation-Clustering-and-Distance-Measurement-with-PCL

First 3D Velodyne lidar is used with Point Cloud Library (PCL). Then, Segmentation and Clustering is processed. Finally, distance is calculated at 3d coordinate frame for each object. After, i will plan to boxing of each object.

Velodyne Lidar installation on Ros Noetic: $sudo apt update $sudo apt upgrade $sudo apt-get install ros-noetic-velodyne-simulator

Then run to example: rosrun my_pcl_tutorial example

Output: Distance Measurement of Each Object

Rviz Output: