IncrementalModelRegistration¶
What Is This¶
Build a full-model from sequential captured data.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input pointcloud. RGB field is required.
~input/pose
(geometry_msgs/PoseStamped
)Initial pose to estimate acculate pose of the pointcloud.
~input/indices
(pcl_msgs/PointIndices
)Indices to mask object in
~input
pointcloud.
Publishing Topic¶
~output/non_registered
(sensor_msgs/PointCloud2
)Pointcloud just concatenated according to
~input/pose
~output/registered
(sensor_msgs/PointCloud2
)Pointcloud refined by ICP.
Internally Using Services¶
~icp_service
(jsk_recognition_msgs/ICPAlign
)ICP service interface to refine model.
Advertising Services¶
~start_registration
(std_srvs/Empty
)Trigger to start registration.
Parameters¶
~frame_id
(String, default:multisense/left_camera_optical_frame
)Frame ID used for output topics.
Sample¶
roslaunch jsk_pcl_ros sample_incremental_model_registration.launch