GeometricConsistencyGrouping¶
Estimate model position using Geometric Consisteny Grouping technique
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Scene pointcloud. The type is
pcl::PointNormal
.~input/feature
(sensor_msgs/PointCloud2
)Scene feature. currently SHOT352 is supported.
~input/reference
(sensor_msgs/PointCloud2
)Model pointcloud. The type is
pcl::PointNormal
.~input/reference/feature
(sensor_msgs/PointCloud2
)Model feature. currently SHOT352 is supported.
Publishing Topic¶
~output
(geometry_msgs/PoseStamped
)Pose of recognized object
Parameters¶
~gc_size
(Double, default:0.01
)Size of cluster
~gc_thresh
(Double, default:5.0
)Threshold of clustering