[joshumax]

Originally Posted by TheOtherGuy

I would be shocked if someone had a point cloud already. Perhaps getting vertices from a mesh file is enough? I'm not sure if you're acquainted with CAD tools, but here's a STEP model of the field on GrabCAD you could work with:
https://grabcad.com/library/frc-field-2016-2

If that's not good enough, and you have a lot of time on your hands, you could install FRC Sim and figure out how to add a Kinect to the default robot.

https://wpilib.screenstepslive.com/s/4485/m/23353
http://gazebosim.org/tutorials?tut=r...s#OpenniKinect

I should've noted that for the time being I _was_ using a point cloud database created from a model of the tower made in Blender. The problem is, the point cloud is _too_ good, when in reality things like the retro-reflective tape near the goal causes incorrect readings from the structured light sensor (or at least on the Orbbec Astra, which uses a strange diffraction grating). I was also using Gazebosim with ROS for a short period of time, but designing the robot and configuring it to work in Gazebo started to take too long