Point Cloud Library - ashBabu/Utilities GitHub Wiki

Installation

sudo apt install libpcl-dev

Resources

• Official Page
• ROS.org

An example

Downsampling a pointcloud data

• The camera used is Intel realsense D435i
• Follow this tutorial
• roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
• rosrun my_pcl_tutorial voxel_grid input:=/camera/depth/color/points
• In Rviz, add 2 PointCloud2 having topics /output and /camera/depth/color/points
• video can be seen here