LINEMODDetector

What Is This

A nodelet to detect object using LINEMOD.

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

  Input pointcloud.

Publishing Topic

• ~output (sensor_msgs/PointCloud2)

  Result of detection as pointcloud.

• ~output/mask (sensor_msgs/Image)

  Result of detection as mask image.

• ~output/pose (geometry_msgs/PoseStamped)

  Pose of detected template

• ~output/template (sensor_msgs/PointCloud2)

  Template pointcloud at identity pose.

Parameters

• ~template_file (String, default: template)

  Path to template files (.pcd and _poses.yaml).

  e.g.) If the templates are /foo/bar.pcd and /foo/bar_poses.yaml, then this parameter should be /foo/bar.

• ~gradient_magnitude_threshold (Double, default: 10.0)

  Gradient magnitude threshold

• ~detection_threshold (Double, default: 0.75)

  Detection threshold

Sample

roslaunch jsk_pcl_ros sample_linemod_detector.launch