LINEMODDetector¶
What Is This¶
A nodelet to detect object using LINEMOD.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input pointcloud.
Publishing Topic¶
~output
(sensor_msgs/PointCloud2
)Result of detection as pointcloud.
~output/mask
(sensor_msgs/Image
)Result of detection as mask image.
~output/pose
(geometry_msgs/PoseStamped
)Pose of detected template
~output/template
(sensor_msgs/PointCloud2
)Template pointcloud at identity pose.
Parameters¶
~template_file
(String
, default:template
)Path to template files (
.pcd
and_poses.yaml
).e.g.) If the templates are
/foo/bar.pcd
and/foo/bar_poses.yaml
, then this parameter should be/foo/bar
.~gradient_magnitude_threshold
(Double
, default:10.0
)Gradient magnitude threshold
~detection_threshold
(Double
, default:0.75
)Detection threshold
Sample¶
roslaunch jsk_pcl_ros sample_linemod_detector.launch