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.


  • ~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.


roslaunch jsk_pcl_ros sample_linemod_trainer.launch