Objectif

We catched the depth data and tranformed to point cloud. Then we filter that object which is higher than the ground. We projected this result to create a 2D image. By using this image, we can send back reference position of an obstacle.

• You can also take a look to the tutorial:http://wiki.ros.org/pcl/Tutorials

Calibration Parameters for the calculation of 3D coordinates from the raw image measurements include: The height of Kinect. (In addition, we found that y-axis of the point cloud corresponds to the height, means the z-axis for a tf-tranform of Kinect Sensor)

The package: pcl_detector.tar.gz

1. Launch Kinect Sensor

• roslaunch openni_launch openni.launch

2. Run

• rosrun pcl_detector pcl_detector

You can simulate the result by using rviz:

• rosrun rviz rviz

Choose the output topic “output” in type of “PointCloud2”