FeatureRegistration¶
Align pointcloud using 3d feature. Currently only FPFH is supported.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input pointcloud. The type of point is
pcl::PointNormal
.~input/feature
(sensor_msgs/PointCloud2
)Input feature. The type of point is
pcl::FPFHSignature33
.~input/reference/cloud
(sensor_msgs/PointCloud2
)Reference pointcloud. The type of point is
pcl::PointNormal
.~input/reference/feature
(sensor_msgs/PointCloud2
)Reference feature. The type of point is
pcl::FPFHSignature33
.
Publishing Topic¶
~output
(geometry_msgs/PoseStamped
)Transformation to align reference cloud to input cloud.
~output/cloud
(sensor_msgs/PointCloud2
)Reference pointCloud which is aligned to input cloud.
Parameters¶
~max_iterations
(Integer, default:1000
)Maximum number of iterations.
~correspondence_randomness
(Integer, default:2
)Number of neighbors to use when selecting a random feature correspondence.
A higher value will add more randomness to the feature matching.
~similarity_threshold
(Double, default:0.9
)Similarity threshold in [0,1] between edge lengths of the underlying polygonal correspondence rejector object, where 1 is a perfect match.
~max_correspondence_distance
(Double, default:0.0075
)Maximum distance threshold between two correspondent points in source <-> target.
~inlier_fraction
(Double, default:0.25
)Required inlier fraction of the input in [0, 1]
~transformation_epsilon
(Double, default:0.1
)Maximum allowable difference between two consecutive transformations in order for an optimization to be considered as having converged to the final solution.
These parameters can be changed by dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros sample_feature_registration.launch