PPFRegistration

What is this?

../../../../_images/ppf_registration.gif ../../../../_images/ppf_registration.png

Compute normals for an organized point cloud using integral images.

Subscribing Topics

  • ~input/cloud (sensor_msgs/PointCloud2)

    Input point cloud. (PointXYZ)

  • ~input/reference_cloud (sensor_msgs/PointCloud2)

    Reference point cloud. (PointXYZ)

    Subscribe when parameter use_array is false.

  • ~input/reference_array (jsk_recognition_msg/PointsArray)

    Reference point cloud array. (PointXYZ)

    Subscribe when parameter use_array is true.

Publishing Topics

  • ~output/cloud (sensor_msgs/PointCloud2)

    Output aligned reference point cloud.

    Publish when parameter use_array is false.

  • ~output/pose_stamped (geometry_msg/PoseStamped)

    Output aligned reference pose.

    Publish when parameter use_array is false.

  • ~output/points_array (jsk_recognition_msg/PointsArray)

    Output aligned reference point cloud array.

    Publish when parameter use_array is true.

  • ~output/pose_array (geometry_msg/PoseArray)

    Output aligned reference pose array.

    Publish when parameter use_array is true.

Parameters

  • ~use_array (Boolean, default: false)

    Determine whether reference format is jsk_recognition_msg/PointsArray or sensor_msgs/PointCloud2

  • ~queue_size (Int, defalut: 100)

    Queue size

  • ~approximate_sync (Boolean, default false)

    Select to use approximate sync policy

  • search_radius (Double, default 0.05)

    Search radius for normal calculation

  • sampling rate (Int, default 10)

    Sampling rate for registration

  • position_clustering_threshold (Double, default 0.2)

    Position clustering threshold for registration

  • rotation_clustering_threshold (Double, defalut 30)

    Rotation clustering threshold for registration

Sample

roslaunch jsk_pcl_ros sample_ppf_registration.launch