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.


  • ~frame_id (String, default: multisense/left_camera_optical_frame)

    Frame ID used for output topics.


roslaunch jsk_pcl_ros sample_incremental_model_registration.launch