pcl_ros_processing

pcl sample program on ROS(Robot Operating System)

usage

Please prepare rgbd sensor(ex:Kinect, Realsense) and build this package

downsampling

Execute following command:

$ rosrun pcl_ros_processing downsampling input:=/camera/depth_registered/points

Execute following command for changing downsampling rate:

$ rosparam set down_rate 0.01

down_rate means voxel size

planar segmentation

Execute following command:

$ rosrun pcl_ros_processing planar_segmentation input:=/camera/depth_registered/points

for rviz visualization

$ rosrun rviz rviz

for pcl viewer visualization

$ pcl_viewer save.pcd

press 5 for color visualization

color filter

for rgb

$ rosrun pcl_ros_processing color_filter_rgb input:=/camera/depth_registered/points

for hsv

$ rosrun pcl_ros_processing color_filter_hsv input:=/camera/depth_registered/points

for rviz visualization

$ rosrun rviz rviz

for pcl viewer visualization

$ pcl_viewer save.pcd

press 5 for color visualization

References

planar segmentation

• http://wiki.ros.org/pcl/Overview
• http://pointclouds.org/documentation/tutorials/planar_segmentation.php#planar-segmentation
• https://staff.aist.go.jp/kanezaki.asako/pdf/SSII2016_AsakoKanezaki_tutorial.pdf
• http://ros-robot.blogspot.jp/2011/08/pclapi-point-cloud-library-pcl-pcl-api.html

color filter

• http://qiita.com/akachochin/items/47f1470565e76adb1880