We can handle the point cloud data from Kinect or the other 3D sensors for performing wide variety of tasks such as 3D object detection and recognition, obstacle avoidance, 3D modeling, and so on. In this section, we will see some basic functionalities using the PCL library and its ROS interface. We will discuss the following examples:

• How to publish a point cloud in ROS
• How to subscribe and process point cloud
• How to write point cloud data to a PCD file
• How to read and publish point cloud from a PCD file