TargetAdaptiveTracking¶
What Is This¶
This node finds the nearest plane from input pose and publish pose aligned to that plane.
Subscribing Topic¶
~input_obj_cloud
(sensor_msgs/PointCloud2
)Object point cloud used for initialization.
~input_bkgd_cloud
(sensor_msgs/PointCloud2
)Background point cloud used for initialization.
~input_obj_pose
(geometry_msgs/PoseStamped
)Object pose used for initialization.
Note that ~input_obj_cloud
, ~input_bkgd_cloud
and ~input_obj_pose
should be synchronized.
~input_cloud
(sensor_msgs/PointCloud2
)Target point cloud.
~input_pose
(geometry_msgs/PoseStamped
)Object pose used for updating motion displacement.
Note that ~input_cloud
and ~input_pose
shoule be synchronized.
Publishing Topic¶
/selected_pointcloud
(sensor_msgs/PointCloud2
)Template point cloud to track.
/target_adaptive_tracking/output/object_pose
(geometry_msgs/PoseStamped
)Result pose of tracking.
/target_adaptive_tracking/output/cloud
(sensor_msgs/PointCloud2
)Relay of
~input_cloud
./target_adaptive_tracking/output/normal
(sensor_msgs/PointCloud2
)Point cloud of centroid with
normal
field./target_adaptive_tracking/output/inliers
(sensor_msgs/PointCloud2
)Point cloud of inliers.
/target_adaptive_tracking/output/centroids
(sensor_msgs/PointCloud2
)Point cloud of estimated position.
/target_adaptive_tracking/output/probability_map
(sensor_msgs/PointCloud2
)Point cloud representing probability.
/target_adaptive_tracking/supervoxel/cloud
(sensor_msgs/PointCloud2
)/target_adaptive_tracking/supervoxel/indices
(jsk_recognition_msgs/ClusterPointIndices
)Result point cloud / cluster point indices of supervoxel segmentation.
/target_adaptive_tracking/supervoxel/tdp_indices
(jsk_recognition_msgs/ClusterPointIndices
)Filtered cluster point indices of supervoxel segmentation.
Parameters¶
~use_tf
(Bool, default:False
)Whether to look up transform between
~parent_frame_id
and~child_frame_id
to update transform.~parent_frame_id
(String, default:/track_result
)Parent frame ID.
This parameter is used only when
~use_tf
is True.~child_frame_id
(String, default:/camera_rgb_optical_frame
)Child frame ID used for
/target_adaptive_tracking/output/cloud
and/target_adaptive_tracking/output/object_pose
.~color_importance
(Float, default:0.2
)~spatial_importance
(Float, default:0.4
)~normal_importance
(Float, default:1.0
)Importances used for supervoxel segmentation.
~use_transform
(Bool, default:True
)This parameter is not used.
~seed_resolution
(Float, default:0.1
)Average size in meters of resulting supervoxels.
~voxel_resolution
(Float, default:0.008
)Resolution in meters of voxel used.
~min_cluster_size
(Int, default:20
)Minimum number of supervoxels.
~threshold
(Float, default:0.4
)Probability threshold.
~bin_size
(Int, default:18
)Local structural rpy bin.
~eps_distance
(Float, default:0.03
)~eps_min_samples
(Int, default:3
)These parameters are not used now.
~update_tracker_reference
(Bool, default:False
)Whether to update tracking model.
~vfh_scaling
(Float, default:0.7
)Likelihood scaling factor for vfh matching.
~color_scaling
(Float, default:0.5
)Likelihood scaling factor for color matching.
~structure_scaling
(Float, default:0.0
)Likelihood scaling factor for local voxel adjacency.
~update_filter_template
(Bool, default:False
)Whether to update the particle filter tracking template.
~history_window_size
(Int, default:5
)Number of frame after which the unmatched voxel is discarded.
Sample¶
roslaunch jsk_pcl_ros sample_target_adaptive_tracking.launch