PointCloud2Objects API Notes

Start Up

Use the following on ijiraq to launch the pointcloud processing system:

roslaunch pointcloud2objects pointcloud2objects.launch

Parameters

• point_cloud_samples (int; default = 3): number of point cloud samples from the Xtion to combine into a single point cloud for analysis
• point_cloud_subojbects (bool; default = true): true = subdivide objects into sub-objects by color
• point_cloud_include_subclouds (bool; default = true): true = include the point cloud for an object into the object description

Visualization

The pointclouds (including segmented pointclouds) can be visualized with rviz.