Find distnace to an object

getObjectDistance.py

def getObjectDistance (angle_min, angle_max):

    minDist = 0
    lidar = RPLidar(None, PORT_NAME)

    try:
            for scan in lidar_scans(lidar):

                for (_, angle, distance) in scan:
                    scan_data[min([359, floor(angle)])] = distance

                # fetching all non zero distance values between subtended angles
                allDists = [scan_data[i] for i in range(360)
                      if i >= angle_min and i <= angle_max and scan_data[i] > 0]

                # if half the distance values are filled in then break
                if (2 * len(allDists) > angle_max - angle_min):

                    minDist = np.min(allDists)
                    lidar.stop()
                    lidar.disconnect()
                    return minDist

    except KeyboardInterrupt:
        print('Stoping LIDAR Scan')