Tutorials.md

Tutorials

Launch example node with following command:

$ roslaunch pcl_tutorials_ros example.launch \
    example:=EXAMPLE_NAME \
    number:=EXAMPLE_NUMBER \
    realsense:=SET_TRUE_TO_USE_REALSENSE \
    gazebo:=SET_TRUE_TO_RUN_GAZEBO_SIMULATION \
    use_file:=SET_TRUE_TO_LOAD_PCD_FILE file:=PCD_FILE_PATH

Please refer to https://pcl.readthedocs.io/projects/tutorials/en/master/ for PCL details.

• Filtering
• KdTree
• Segmentation

Filtering

The Example code is here.

References: https://pcl.readthedocs.io/projects/tutorials/en/master/#filtering

0: Filtering a PointCloud using a PassThrough filter

roslaunch pcl_tutorials_ros example.launch example:=filtering number:=0 gazebo:=true

1: Downsampling a PointCloud using a VoxelGrid filter

roslaunch pcl_tutorials_ros example.launch example:=filtering number:=1 gazebo:=true

2: Removing outliers using a StatisticalOutlierRemoval filter

roslaunch pcl_tutorials_ros example.launch example:=filtering number:=2 use_file:=true file:=table_scene_lms400.pcd

3: Projecting points using a parametric model

roslaunch pcl_tutorials_ros example.launch example:=filtering number:=3 gazebo:=true

4: Extracting indices from a PointCloud

roslaunch pcl_tutorials_ros example.launch example:=filtering number:=4 gazebo:=true

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KdTree

The example code is here.

References: https://pcl.readthedocs.io/projects/tutorials/en/master/#kdtree

roslaunch pcl_tutorials_ros example.launch example:=kdtree gazebo:=true

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Segmentation

The example code is here.

References: https://pcl.readthedocs.io/projects/tutorials/en/master/#segmentation

0: Plane model segmentation

roslaunch pcl_tutorials_ros example.launch example:=segmentation number:=0 gazebo:=true

1: Cylinder model segmentation

TBD

2: Euclidean Cluster Extraction

roslaunch pcl_tutorials_ros example.launch example:=segmentation number:=2 gazebo:=true

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