A point cloud is a set of data points in 3D space. Such data is usually derived from time-of-flight, structured light or stereo reconstruction. Laser scanners such as the Hukuyo or Velodyne provide a planar scan or 3D coloured point cloud respectively. The perception_pcl package is the PCL ROS interface stack. A previous post covered how to integrate the Point…Read more Working with 3D point clouds in ROS
Point-cloud
3D Computer Vision in ROS
The RealSense D435 camera can be readily set up to publish all the image and pointcloud streams via ROS topics. For an in-depth setup, read Integrating the Intel RealSense D435 with ROS. Once this data becomes available in ROS, processing it via custom nodes requires a larger ROS ecosystem for perception. Three popular 2D/3D computer…Read more 3D Computer Vision in ROS
Integrating the Hokuyo URG Lidar with ROS
The Hukuyo URG is a lightweight, affordable USB powered lidar sensor. It outputs a single planar scan with 240º scanning range at 0.36º angular resolution and scan rate of 100ms/scan. This sensor can be used for, amongst other things, indoor mapping or collision avoidance. There is presently no pre-compiled driver available for ROS kinetic so…Read more Integrating the Hokuyo URG Lidar with ROS
Robotics. And other stuff too. 