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Elaborazione di dati tridimensionali

Download source files and dataset for lab2, compile and execute demo:

cd ~/projects
mkdir PCL_lab2
cd PCL_lab2
svn co --username pcl \
https://robotics.dei.unipd.it/svn/iaslab/projects/lab/PCL/lab2/src .

Type the password.

mkdir dataset
cd dataset
svn co --username pcl \
https://robotics.dei.unipd.it/svn/iaslab/projects/lab/PCL/lab2/dataset .

If required retype the password.

rospack profile && rosstack profile
roscd PCL_lab2
cmake -G"Eclipse CDT4 - Unix Makefiles"
rosmake PCL_lab2

You can try the program following these instructions:

roscd PCL_lab2/bin
./demo_compute_normals
./demo_compute_FPFH 
cd ~/projects
mkdir PCL_lab3
cd PCL_lab3
svn co --username pcl \
https://robotics.dei.unipd.it/svn/iaslab/projects/lab/PCL/lab3/src .

Type the password.

mkdir dataset
cd dataset
svn co --username pcl \
https://robotics.dei.unipd.it/svn/iaslab/projects/lab/PCL/lab3/dataset .

If required retype the password.

rospack profile && rosstack profile
roscd PCL_lab3
cmake -G"Eclipse CDT4 - Unix Makefiles"
rosmake PCL_lab3

Some examples of what you can do with this program:

roscd PCL_lab3/bin
./iccv2011_tutorial \
dataset/minimouse/minimouse1.pcd \
dataset/minimouse/minimouse2.pcd 5 3
./iccv2011_tutorial \
dataset/minimouse/minimouse3.pcd \
dataset/minimouse/minimouse4.pcd 2 2
./iccv2011_tutorial \
dataset/minimouse/minimouse2.pcd \
dataset/minimouse/minimouse4.pcd 1 4

Try to visualize the segmented source (3), the segmented target (4), the source to taget correspondences (7) and finally the final registration (r). Here you can find some other operations available in this program:

1 - show/hide source point cloud
2 - show/hide target point cloud
3 - show/hide segmented source point cloud
4 - show/hide segmented target point cloud
5 - show/hide source key points
6 - show/hide target key points
7 - show/hide source2target correspondences
8 - show/hide target2source correspondences
9 - show/hide consistent correspondences
i - show/hide initial alignment
r - show/hide final registration
h - show visualizer options
q - quit

Preliminary steps

cd
mkdir projects
cd projects
 
svn co --username pcl \
https://robotics.dei.unipd.it/svn/iaslab/projects/lab/base .
rm -rf .svn

Copy the content of to_add.bashrc after your .bashrc, close your terminal and reopen it.

Start with the lab experience

cd ~/projects
mkdir PCL_lab1
cd PCL_lab1
svn co --username pcl \
https://robotics.dei.unipd.it/svn/iaslab/projects/lab/PCL/lab1/src .

Type the password.

mkdir dataset
cd dataset
svn co --username pcl \
https://robotics.dei.unipd.it/svn/iaslab/projects/lab/PCL/lab1/dataset .

If required retype the password.

rospack profile && rosstack profile
roscd PCL_lab1
cmake -G"Eclipse CDT4 - Unix Makefiles"
rosmake PCL_lab1

You can try the program following these instructions:

roscd PCL_lab1/bin
./demo_simple_operations

Work with Eclipse

To open Eclipse you can simply type in your terminal

eclipse &

Now, you have to import your project into Eclipse. Select File --> Import --> Existing projects into workspace, hit Next, then browse for your package's directory (select root directory). Do NOT select Copy projects into workspace. Then Finish.

You should now be able to browse through the code (hold down CTRL while clicking on a function/class name), get auto completion (automatically appears, or press CTRL-SPACE), etc.

You can find more information about use Eclipse (or other IDEs) with ROS projects at this page.

Laboratory experiences

OpenCV - Experience 1

PCL - Experience 1

PCL - Experience 2

PCL - Experience 3

Here you can find some links to help you in your lab experiences:

Install Base System - Lab Setup (ROS Fuerte + PCL 1.4.0 + OpenCV 2.3.1)

ROS Documentation

OpenCV Documentation

PCL Introduction

PCL Documentation

To install PCL stand-alone you can follow the official guide for:

You can also login to the lab machines using a PC connected to the DEI network provided with NX Client using your DEI login and password for the authentication.

How to setup NX Client in your PC




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