Artificial Intelligence Wiki

Tutorial describing first steps needed to start processing data from the Kinect, in the form of Point Clouds, using tools included in ROS Fuerte.

If you are using a PrimeSense device (Xbox Kinect, Asus Xtion) check whether ros-fuerte-openni-kinect is installed. You can do this by running the following command in a terminal:

dpkg -l | grep  ros-fuerte-openni-kinect 

If not present install using:

sudo apt-get install ros-fuerte-openni-kinect

Connect the device to your PC and run

roslaunch openni_launch openni.launch

in order to start publishing data from it to the appropriate topics.

More detailed description to be added soon.

Code will be available at:
https://github.com/ai-seminar/perception-tutorials.git

• viewing with rviz (point clouds) and image_view (images)
  
• record using bag files or save clouds in *pcd files using tool in ros_pcl
  
• replay bag files, view them in rviz
  
• subscribing to the PointCloud topic from C++

• reading in a pcd file
• using PCLVisualizer
• removing nans
• filtering based on axes
• downsampling the Point Cloud