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.


  • ~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


roslaunch jsk_pcl_ros sample_linemod_detector.launch