GeometricConsistencyGrouping

Estimate model position using Geometric Consisteny Grouping technique

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

  Scene pointcloud. The type is pcl::PointNormal.

• ~input/feature (sensor_msgs/PointCloud2)

  Scene feature. currently SHOT352 is supported.

• ~input/reference (sensor_msgs/PointCloud2)

  Model pointcloud. The type is pcl::PointNormal.

• ~input/reference/feature (sensor_msgs/PointCloud2)

  Model feature. currently SHOT352 is supported.

Publishing Topic

• ~output (geometry_msgs/PoseStamped)

  Pose of recognized object

Parameters

• ~gc_size (Double, default: 0.01)

  Size of cluster

• ~gc_thresh (Double, default: 5.0)

  Threshold of clustering