Transcription of PCL Tutorial: - The Point Cloud Library By Example
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PCL Tutorial: - The Point Cloud Library By Example
PCL Tutorial: The Point Cloud Library By ExampleJeff DelmericoVision and Perceptual Machines Lab106 Davis HallUB North 11, 2013 Jeff DelmericoFebruary 11, 20131/38 Point CloudsDefinitionA Point Cloud is a data structure used to represent a collection ofmulti-dimensional points and is commonly used to representthree-dimensional a 3D Point Cloud , the points usually represent the X, Y, and Zgeometric coordinates of an underlying sampled surface. Whencolor information is present, the Point Cloud becomes DelmericoFebruary 11, 2013 Introduction2/38 Where do Point clouds come from?IRGB-D camerasIStereo camerasI3D laser scannersITime-of-flight camerasISythetically from software( Blender)Jeff DelmericoFebruary 11, 2013 Introduction3/38 Point Cloud LibraryIPCL is a large scale, open project for 2D/3D image and pointcloud processing (in C++, w/ new python bindings).IThe PCL framework contains numerous state-of-the artalgorithms including filtering, feature estimation, surfacereconstruction, registration, model fitting and is cross-platform, and has been successfully compiled anddeployed on Linux, MacOS, Windows, and DelmericoFebruary 11, 2013 Introduction4/38 Getting PCLIF irst, download PCL for your system from: you want to try the python bindings (currently for only asubset of the full PCL functionality), go here: provides the 3D processing pipeline for ROS, so you
Point Cloud Library I PCL is a large scale, open project for 2D/3D image and point cloud processing (in C++, w/ new python bindings). I The PCL framework contains numerous state-of-the art algorithms including ltering, feature estimation, surface reconstruction, registration, model tting and segmentation.
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