IncrementalModelRegistration

What Is This

Build a full-model from sequential captured data.

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

  Input pointcloud. RGB field is required.

• ~input/pose (geometry_msgs/PoseStamped)

  Initial pose to estimate acculate pose of the pointcloud.

• ~input/indices (pcl_msgs/PointIndices)

  Indices to mask object in ~input pointcloud.

Publishing Topic

• ~output/non_registered (sensor_msgs/PointCloud2)

  Pointcloud just concatenated according to ~input/pose

• ~output/registered (sensor_msgs/PointCloud2)

  Pointcloud refined by ICP.

Internally Using Services

• ~icp_service (jsk_recognition_msgs/ICPAlign)

  ICP service interface to refine model.

Advertising Services

• ~start_registration (std_srvs/Empty)

  Trigger to start registration.

Parameters

• ~frame_id (String, default: multisense/left_camera_optical_frame)

  Frame ID used for output topics.

Sample

roslaunch jsk_pcl_ros sample_incremental_model_registration.launch