semantic_mapping: ANN | FLANN | cminpack | point_cloud_mapping

Package Summary

PCML - Point Cloud Mapping Library: a complete package for 3D point cloud processing, oferring both generic libraries and specific purpose nodes.

To keep things modular, PCML is split into a list of smaller libraries, including:

• cloud_geometry: areas, distances, intersections, 3D normals/features estimation, norms, projections, statistics, transformations, etc
• cloud_io: a library for Input/Output PCD (Point Cloud Data) processing
• cloud_kdtree: a library for nD spatial decomposition and nearest neighbors searches for PointCloud messages using k-D trees.
• cloud_octree: a library for 3D spatial decomposition of PointCloud messages using octree data structures.
• sample_consensus: a library for SAmple Consensus (SAC) like methods (RANSAC, MSAC, MLESAC, etc,) and geometric shape models (planes, cylinders, cones, torii, lines, spheres, etc)

The list of nodes includes:

• cloud_downsampler_node: a node which uniformly downsamples a 3D point cloud
• normal_estimation_node: a node which estimates local surface properties at each point such as surface normals, curvature changes, moment invariants, etc.
• planar_fit_node: a node that segments the best plane for a given dataset using a variety of methods

• Author: Radu Bogdan Rusu and contributors
• License: BSD
• Repository: cornell-ros-pkg
• Source: git https://code.ros.org/svn/wg-ros-pkg

Tutorials

Links to relevant tutorials