LINEMODTrainer¶
What Is This¶
A nodelet to train LINEMOD data from pointcloud and indices to mask the objects.
This nodelet stores data of pointcloud and if you call ~start_training
service,
it will train the data and dump the templates into lmt file.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)This pointcloud should be able to be converted into
pcl::PointXYZRGBA
data.~input/indices
(pcl_msgs/PointIndices
)Indices to mask object in
~input
pointcloud.~input/info
(sensor_msgs/CameraInfo
)Camera parameter to sample viewpoint.
Publishing Topic¶
~output/range_image
(sensor_msgs/Image
)~output/colored_range_image
(sensor_msgs/Image
)~output/sample_cloud
(sensor_msgs/PointCloud2
)Image and pointcloud generated by viewpoint sampling.
Advertising Servicies¶
~start_training
(std_srvs/Empty
)Start training and dump result into a file.
~clear
(std_srvs/Empty
)Clear stored data.
Parameters¶
~output_file
(String
, default:template
)A file path to dump trained data.
e.g.) If this parameter is set to
/foo/bar
, then/foo/bar.linemod
,/foo/bar.pcd
and/foo/bar_poses.yaml
will be created.~sample_viewpoint
(Bool
, default:True
)Generate training data by samplingenerating viewpoint if this parameter is set to true.
~sample_viewpoint_angle_step
(Double
, default:40.0
)~sample_viewpoint_angle_min
(Double
, default:-80.0
)~sample_viewpoint_angle_max
(Double
, default:80.0
)~sample_viewpoint_radius_step
(Double
, default:0.2
)~sample_viewpoint_radius_min
(Double
, default:0.4
)~sample_viewpoint_radius_max
(Double
, default:0.8
)Viewpoint sampling parameters. Pose of model is sampled by golden ratio spatial technique.
~n_points
(Int
, default:150
)Number of viewpoint set.
Sample¶
roslaunch jsk_pcl_ros sample_linemod_trainer.launch