/pcl_manipulation

pcl manipulations of lidar point clouds using kitti datasets

Primary LanguageC++

pcl_manipulation

please note that you should subscribe to kitti topic "kitti/velo/pointcloud",

you can play the rosbag file kitti_2011_09_26_drive_0002_synced.bag to find the "kitti/velo/pointcloud".

to convert kitti datasets to rosbags you can use kitti2bag

example : rosbag play -l kitti_2011_09_26_drive_0002_synced.bag

video_demo for lidar pointclouds kiti datasets with pcl_viewer

ouups

video_demo filtering point clouds with pcl statistical outlier removal filter

ouups

for more informations about the statistical outlier removal filter go to http://pointclouds.org/documentation/tutorials/statistical_outlier.php

video_demo downsampling point clouds with pcl voxel grid

ouups

for more informations about the voxel grid downsampler go to http://pointclouds.org/documentation/tutorials/voxel_grid.php