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Questions tagged [lidar]

LIDAR (Light Detection And Ranging) is an optical remote sensing technology that measures properties of scattered light to find range and/or other information of a distant target.

If the question is not solely about programming it might be suitable on gis.stackexchange.com

Programming questions related to lidar geospatial data are also welcome on GIS SE.

429 questions
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optimize nearest neighbor query on 70 million extremely high density spatial point cloud on SQL Server 2008

I have about 75 million records in a SQL Server 2008 R2 Express database. Each is a lat long corresponding to some value. The table has geography column. I am trying to find one nearest neighbor for a given latitude longitude (point). I already have…
Shaunak
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Post-processing of Kitti dataset, bin, and pcd data

The .bin file or pcd file of the Kitti dataset has 64 layers. But I will do 3D detection with my 3 VLP16 Lidars. For learning, I want to reduce the number of 64 layers in the Kitti dataset to 16 or 32. The kitti dataset consists of a .bin file,…
2eon
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Extracting the ARMeshGeometry data to apply AudioKit sound generator

How can I extract and work with the ARMeshGeometry generated by the new SceneReconstruction API on the iPad Pro? I am using Apple's Visualising Scene Semantics sample app/code I am trying to attach an AudioKit AKOscillator() to the centre of the…
RichSF1210
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Scale bar when plotting a point cloud with lidR

How do I get a scalebar within my plot when plotting a point cloud from a .las file. I have a simple script below to plot my data using the lidR package but I want to add a scale bar and can't find how to do so. las <-…
Selena Chavez
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How to label my own point cloud data to have the 3D training labels (.txt) files like KITTI 3D object detection dataset?

I am new to this field, I have collected some point cloud data using lidar sensor and camera and now I have .pcd files for the point cloud and .png files for the images. I wanted to make this data like the KITTI dataset structure for 3d object…
Mohamed Aboushnief
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How can I output the open3d geometry PointCloud as .pcd file?

I am converting a lidar data (in .bin format) into .pcd format with the following code with open ("lidar_velodyne64.bin", "rb") as f: byte = f.read(size_float*4) while byte: x,y,z,intensity = struct.unpack("ffff", byte) …
uguros
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Conversion of binary lidar data (.bin) to point cloud data (.pcd) format

I have a lidar data collected with Velodyne-128 in .bin format. I need to convert it into pcd format. I use NVIDIA Driveworks for data manipulation but there is no tool to convert lidar binary data into pcd. Thus, is there a method to convert binary…
uguros
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How to change the field separator of a file using Python?

I'm new to Python from the R world, and I'm working on big text files, structured in data columns (this is LiDaR data, so generally 60 million + records). Is it possible to change the field separator (eg from tab-delimited to comma-delimited) of…
Pierre
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Create synthetic LiDAR point clouds

I'd like to create synthetic training data for DL models for segmentation and classification in point clouds. The ground truth / real data comprise LiDAR point clouds. I scripted a simple mesh sampling model in python/open3d and I'm able to quickly…
Reiti
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How to project 2d laser scanner data in world co-ordinate system

I have small tank drive robot which has a rplidar a1 mounted on it. The robot has a raspberry pi on board. I am working on making a small arena with cardboard obstacles. I can find the pose(x,y,heading) of the robot using aruco markers and a celling…
Samm Flynn
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How to process a LAScatalog in parallel with lidR in R

I used to process a LIDAR catalog with the following code (using the LAScatalog processing engine from the great lidR package): library(lidR) lasdir <- "D:\\LAS\\" output <- "D:\\LAS\\PRODUCTS\\" epsg = "+init=epsg:25829" res = 1 no_cores <-…
César Arquero Cabral
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What are the contents of PointCloud2?

What does the contents of PointCloud2 means in ROS? fields.offset? fields.datatype? fields.count? point_step? row_step? Its documentation is poor Here is a published PointCloud2 message by Velodyne LiDAR: header: seq: 1071 stamp: secs:…
Benyamin Jafari
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Inpainting of sparse 2D LiDAR image to dense depth image

I'm working on a classification problem (object classification for autonomous vehicle). I use a dataset from KITTI which provide LiDAR and camera data and want to use both of this data to perform the task. 3D LIDAR data is projected onto the…
Doxcos44
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Get index method in LAS/LAZ files using PDAL

I'm playing around with PDAL command line interface with point cloud files in both LAS and LAZ formats. I want to know if there is an indexing mechanism in LAZ/LAS files. Is there a way to get this using PDAL.
CoolCK
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IMU Data with Velodyne in PCL

I am using the Velodyne HDL-32E with the Velodyne grabber with GPS mouse connected to the sensor. Is there any way I can access the IMU data from the grabber or should I implement it myself? Please share your experience.
Lakshman ram
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