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teaching:se-kiba:perception-tutorial

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Perception Tutorial

Tutorial describing first steps needed to start processing data from the Kinect, in the form of Point Clouds, using tools included in ROS Fuerte.

If not present install ros-fuerte-openni-kinect.

  • sudo apt-get install ros-fuerte-openni-kinect

More detailed description to be added soon

Code will be available at:
https://github.com/ai-seminar/perception-tutorials.git

Viewing and recording data from the Kinect
  • viewing with rviz (point clouds) and image_view (images)
  • record using bag files or save clouds in *pcd files using tool in ros_pcl
  • 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
  • downsampling the Point Cloud
teaching/se-kiba/perception-tutorial.1366838135.txt.gz · Last modified: 2016/05/19 09:18 (external edit)

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