Robot Vision

Object Segmentation and Clustering in 3D Point Cloud using PCL (ROS + Gazebo + RViz + PCL)

Setup:

Clone the repository using:

git clone https://github.com/anubhav1772/robot_vision.git

Run catkin_make in your ROS source directory

$ cd ~/catkin_ws
$ catkin_make

Start the simulation using:

$ roslaunch robot_vision vision.launch

Segmented Objects in RViz

Make sure to run point_cloud_tf node (cloud_transformer.cpp)

• To transform point cloud data from /camera_rgb_optical_frame to /world frame
• Required for placing the axis markers at all detected clusters' centroids in the /world frame, otherwise it would be in /camera_rgb_optical_frame frame.

Requirements

• pcl v1.13.1 - Installation
• ROS Noetic (Ubuntu 20.04)
• Gazebo v11.11.0