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--- teaching:se-kiba:perception-tutorial [2013/04/26 11:51] – balintbe
+++ teaching:se-kiba:perception-tutorial [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 18: / Line 18: @@
 ==== 2. Viewing and recording data from the Kinect ===
+== Bag files and Rviz ==
 For a PrimeSense device: connect it to your PC and run:
   roslaunch openni_launch openni.launch
@@ Line 32: / Line 32: @@
 More detail and a more elegant way of saving data from a Kinect to bag files can be found [[http://www.ros.org/wiki/openni_launch/Tutorials/BagRecordingPlayback|here]]
+In order to save Point Clouds to *.pcd files run:
+  rosrun pcl_ros pointcloud_to_pcd /input:=/camera/depth_registered/points
+== Image_view ==
+View rgb image:
+  rosrun image_view image_view image:=/camera/rgb/image_color
+View depth image:
+  rosrun image_view image_view image:=/camera/depth/image
+== From a ROS node ==
+To see how you subscribe to a topic from a ros node take a look at //subscriber.cpp// from the source code.
+==== 3.Processing Point Clouds ====
+The following are presented in //tutorial.cpp//, for more detailed description check the links attached.
-  * viewing with //rviz// (point clouds) and //image_view //(images)\\
+  * reading in a pcd file[[http://pointclouds.org/documentation/tutorials/reading_pcd.php#reading-pcd|link]]
-  * record using bag files or save clouds in *pcd files using tool in ros_pcl\\
+  * using PCLVisualizer[[http://pointclouds.org/documentation/tutorials/cloud_viewer.php#cloud-viewer|link]]
-  * replay bag files, view them in rviz\\
-  * subscribing to the PointCloud topic from C++
-==Processing Point Clouds==
-  * reading in a pcd file
-  * using PCLVisualizer
   * removing nans
-  * filtering based on axes
+  * calcultaing normals[[http://pointclouds.org/documentation/tutorials/normal_estimation.php#normal-estimation|link]]
-  * downsampling the Point Cloud
+  * filtering based on axes[[http://pointclouds.org/documentation/tutorials/passthrough.php#passthrough|link]]
-  * RANSAC plane fitting
+  * downsampling the Point Cloud[[http://pointclouds.org/documentation/tutorials/voxel_grid.php#voxelgrid|link]]
-  * extracting indices
+  * RANSAC plane fitting, and extracting indices [[http://pointclouds.org/documentation/tutorials/planar_segmentation.php#planar-segmentation|link1]][[http://pointclouds.org/documentation/tutorials/extract_indices.php#extract-indices|link2]]
+For further questions contact: //**balintbe** at **tzi** dot **de**//