PCL 1.8 (https://larrylisky.com/2014/03/03/installing-pcl-on-ubuntu/)
Baxter SDK (only for the simulated Kinect)
roslaunch kinect2_bridge kinect2_bridge.launch
roslaunch pcl_tracking run_create_model.launch
roslaunch pcl_tracking run_tracking.launch
roslaunch mocap_optitrack mocap.launch
roslaunch pcl_tracking optitrack_handler.launch
rostopic echo /visual/obj_pos_vector
cd ~/baxter_ws/src/baxter_simulator/baxter_gazebo/launch/
ln -s ~/baxter_ws/src/pcl_tracking/src/simulation/baxter_kinect.urdf.xacro .
ln -s ~/baxter_ws/src/pcl_tracking/src/simulation/baxter_world_with_table.launch .
roslaunch baxter_gazebo baxter_world_with_table.launch
roslaunch pcl_tracking run_create_model.launch real_camera:=false
roslaunch pcl_tracking run_tracking.launch
The unsupervised generated models (point clouds) are stored, from bigger to smaller, into the folder "models" with the extension PCD, and it can be observed using:
pcl_viewer ~/baxter_ws/src/pcl_tracking/models/current_timestamp/X.pcd