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).

Where do point clouds come from? I RGB-D cameras I Stereo cameras I 3D laser scanners I Time-of- ight cameras I Sythetically from software (e.g. Blender) Je Delmerico February 11, 2013 Introduction 3/38

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