Shows the result of filter applied to point cloud library produced by kinect. Uses nodelets from ROS perception_pcl package. The ball radius is ~ 7 cm. The filter first reduces the cloud using voxel_grid. One plane then segmented and extracted. Finally the sphere is segmented. The nodelets used are pcl/SACSecmentation, pcl/VoxelGrid, pcl/ExtractIndicies, pcl/NormalEstimation.