This tuitorial is released by University of León in spain.
In this repository, you could find the detailed explaination in how to use the pcl functions in object-recognition. Thanks to Víctor Rodríguez, you can download the source code to learn how to use pcl for object recognition.
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PCL/OpenNI tutorial 0: The very basics
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PCL/OpenNI tutorial 1: Installing and testing
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PCL/OpenNI tutorial 2: Cloud processing - basic
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PCL/OpenNI tutorial 3: Cloud processing - advanced
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PCL/OpenNI tutorial 4: 3D object recognition - descriptors
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PCL/OpenNI tutorial 5: 3D object recognition - pipeline
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PCL/OpenNI tutorial: troubleshooting
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PCL/OpenNI tutorial: Source code