I.C.Lab PCL Tutorial

Software environment

• Ubuntu 18.04
• ROS Melodic (PCL 1.8.1)
• CloudCompare sudo snap install cloudcompare

RGB and PointCloud Data

Example Data

• pcd and rosbag files in example_data folder

3D Cameras

• Install Realsense SDK
• Install Realsense ROS or
• Install Azure Kinet SDK
• Install Azure Kinect ROS Driver

Compiling and Running Project

Using PCL in your own project

cd ~/iclab_pcl_tutorial/L1/<project_name>
mkdir build
cd build
cmake ..
make
./<project_name>

L1: 3D感測技術及點雲庫(PCL)介紹

pcd_write

pcl_basic

ros_pcl_sub_pub

L2: 點雲降採樣及濾波功能實作

pcl_downsample

pcl_upsample

pcl_filters

pcl_smooth

L3: 點雲特徵點提取及匹配

pcl_registration_pipline

L4: 點雲分割功能實作

region_grow

region_grow_rgb

sac_segmentation

範例檔案說明(example_data)

• scene.bag內容

/camera/aligned_depth_to_color/camera_info
/camera/aligned_depth_to_color/image_raw #depth

/camera/color/camera_info
/camera/color/image_raw             #RGB

/camera/depth/camera_info
/camera/depth/image_rect_raw        #depth

/camera/depth/color/points          #無序點雲 Unorganized Point Cloud (height = 1)
/camera/depth_registered/points     #有序點雲 Organized Point Cloud

/camera/extrinsics/depth_to_color

rosbag

• rosbag
• rosbag錄製及播放

//開啟realsense拍攝scene
roslaunch realsense2_camera rs_rgbd.launch filters:=pointcloud depth_width:=1280 depth_height:=720 color_width:=1280 color_height:=720

//錄製rosbag
rosbag record -O scene.bag /camera/aligned_depth_to_color/camera_info /camera/aligned_depth_to_color/image_raw /camera/color/camera_info /camera/color/image_raw /camera/depth/camera_info /camera/depth/image_rect_raw /camera/depth/color/points /camera/depth_registered/points /camera/extrinsics/depth_to_color

//播放
rosbag play scene.bag           
rosbag play scene.bag --loop
rosbag play scene.bag --pause 
rosbag play -r 0.5 scene.bag

//確認topic
rostopic list

rviz檢視方法

• 開啟一個terminal，並輸入rviz，開啟rviz

• 顯示點雲 Add PointCloud2

  • /camera/depth/color/points
  • /camera/depth_registered/points

• 更改 Fixed Frame

  • camera_color_optical_frame
  • camera_depth_optical_frame