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--- teaching:se-kiba:perception-assignment [2013/05/01 14:29] – [Processing the cloud] balintbe
+++ teaching:se-kiba:perception-assignment [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 21: / Line 21: @@
 Create the three ROS packages and as a first step commit and push the empty packages to the repository.
+Download the bag file from this [[https://ai.uni-bremen.de/public/kiba_pointcloud.bag|link]].
 ====== Package Descriptions ======
@@ Line 39: / Line 40: @@
   * You are allowed to filter the cloud on the z axis only between 0 and 1.5 meters
   * during plane fitting using RANSAC, make sure you find the correct plane.
-  * in order to find the objects on the table create a Convex Hull and use a Prism in order to find the point above this hull.(more on this here)
+  * in order to find the objects on the table create a Convex Hull and use ExtractPolygonalPrism in order to find the points above the plane.(more on this [[http://pointclouds.org/documentation/tutorials/hull_2d.php#hull-2d|here]] and [[http://docs.pointclouds.org/trunk/classpcl_1_1_extract_polygonal_prism_data.html|here]])
-  * use Euclidean clustering with a distance threshold of 3 cm-s to find the point cluster of each object
+  * use Euclidean clustering with a distance threshold of 3 cm-s to find the point cluster of each object [[http://www.pointclouds.org/documentation/tutorials/cluster_extraction.php|link]]
---more detail to be added --
 ====Service for advertising the result====
@@ Line 57: / Line 56: @@
 ===== 3. perception_client_pkg =====
+This package implements the client side of the pipeline. It is responsible for querying the service for the latest results, and for communicating them to the users. Besides serving as the bridge between users and processing, it is also the entry point for the pipeline, meaning that it needs to offer an easy interface for launching everything that is necessary for the pipeline (roscore, openni, service subscriber etc. )
+For questions and clarifications contact //balintbe **at** tzi **dot** de//