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A Systematic Approach to Learning Robot Programming with ROS by Wyatt Newman

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CHAPTER 8

Point Cloud Processing

CONTENTS

8.1 Simple point-cloud display node

8.2 Loading and displaying point-cloud images from disk

8.3 Saving published point-cloud images to disk

8.4 Interpreting point-cloud images with PCL methods

8.5 Object finder

8.6 Wrap-Up

INTRODUCTION

Interpreting 3-D sensory data is enabled with the use of the Point Cloud Library Point Cloud Library Point Cloud Processing (see http://www.w3.org/1999/xlink). This open-source effort is independent of but compatible with ROS. The Point Cloud Library (PCL) offers an array of functions for interpreting 3-D data. The present treatment is not intended to be a comprehensive tutorial of PCL. Rather, a few simple capabilities are introduced that provide useful functionality. ...

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