pcl

Simulating A Virtual Camera With OpenCV and Reverse Projection From 2D to 3D

Projection of Points from 3D in the camera plane: Computed rays from the camera origin in the direction of points:

  points are stored in CSV file like this:

The content of “reverse_projection.hpp”

The content of “transformation.hpp“

 

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Eigenvectors of PCL pointcloud (moment of inertia)

The snippet below shows how to computer PCA eigenvectors and eigenvalues (in this case could be interpreted as the moment of inertia).

 

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A GUI ROS-package for cropping pcl pointcloud with dynamic reconfigure

This ROS package enables you to crop the scene from Kinect (input topic type: PCL pointcloud). You can even enable fitting a plane to remove the ground from the scene and by adjusting correct parameter you can get the desired object from the scene. code available on my Github.

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Autonomous navigation of two wheels differential drive robot in Gazebo

Two wheels differential drive robot (with two caster wheels). List of installed sensors: • Velodyne VLP-16. • Velodyne HDL-32E. • Hokuyo Laser scanner. • IMU. • Microsoft Kinect/Asus Xtion Pro. • RGB Camera. You can manually control the robot with Joystick controller for mapping robot environment. Autonomous navigation is possible by setting goal pose.  

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Converting sensor_msgs::PCLPointCloud2 to sensor_msgs::PointCloud and reverse

 

Converting sensor_msgs::PCLPointCloud2 to sensor_msgs::PointCloud and reverse Read More »

Converting pcl::PCLPointCloud2 to pcl::PointCloud and reverse

 

  more about pcl point cloud and conversion

Converting pcl::PCLPointCloud2 to pcl::PointCloud and reverse Read More »

Assembling Laser scans into PCL point cloud Using Gazebo and ROS

For this work, first I loaded the RRBot in Gazebo and launched Its joints controller, then I sent a periodic signal to the robot such that the laser scanner mounted on the robot swings. In the following, I assembled the incoming laser scans with the transformation from tf and created PCL point cloud. Install the necessary

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Real-time object recognition and 6DOF pose estimation based on Linemod algorithm with ROS and PCL pointcloud

In this tutorial, I’m gonna show you how to do object recognition and 6DOF pose estimation in real-time based on Linemod algorithm with ROS and PCL pointcloud. First, you need to install ork:

Then add the model of your object for tracking to Couch DB:

You need to install Kinect driver, if you don’t

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