Take a look at http://www.ros.org/wiki/laser_assembler for assembling a
bunch of planar scans into 1 point cloud.

Once you have a point cloud, you should be able to use anything that
operates on point clouds, such as PCL ( http://www.ros.org/wiki/pcl ), to do
the volume extraction.

- Eric

On Mon, Feb 7, 2011 at 12:32 PM, Willy Lambert <lambert.willy@gmail.com>wrote:

> Hi all,
>
> I am using a Hokuyo laser range sensor scanning horizontally  on a vertical
> translating rail thus having 3D scan of the world. I would like to extract
> some 3D volume of it (such as cubes). I am not used to play with such data
> acquisition so I wonder if it already exist some marvellous ROS package
> doing such scan extraction. In fact I am sure that PR2 are using it with a
> rotation of the scanner, that's why I am asking here.
>
> I may need to read some documentation to have the "keyword" of 3D
> extraction, do not hesitate to give me some readings not to loose your time
> in "noob" questions.
>
> P.S.: a friend of mine is in copy because not on the list. I am sure he'll
> be converted to the power of ROS after this :p
>
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