Kinect and PCL
Hey everyone
I am currently working on a project where I have a pile of cloth and kinect camera mounted above this pile looking down on it. The aim is then to find a grasping point using the kinect camera so a robot arm is able to grasp a piece of cloth. My initial idea was to use the depth information to find the deviation between different pixels, an area with high deviation will then correspond to a piece of cloth sticking out. A good example could be this image where the folds will give a high deviation and thus a good grasping point. A thing I have noticed during my research is the widely use of pointclouds and the PCL library with the Kinect camera, and therefore I wonder about using the pointclouds to find the deviation. My problem is that I cant find a good indeep tutorial how to use the PCL library and I wonder if someone has some good links or explanation how to process pointcloids with the PCL library.
