PPFRegistration

What is this?

Compute normals for an organized point cloud using integral images.

Subscribing Topics

• ~input/cloud (sensor_msgs/PointCloud2)

  Input point cloud. (PointXYZ)

• ~input/reference_cloud (sensor_msgs/PointCloud2)

  Reference point cloud. (PointXYZ)

  Subscribe when parameter use_array is false.

• ~input/reference_array (jsk_recognition_msg/PointsArray)

  Reference point cloud array. (PointXYZ)

  Subscribe when parameter use_array is true.

Publishing Topics

• ~output/cloud (sensor_msgs/PointCloud2)

  Output aligned reference point cloud.

  Publish when parameter use_array is false.

• ~output/pose_stamped (geometry_msg/PoseStamped)

  Output aligned reference pose.

  Publish when parameter use_array is false.

• ~output/points_array (jsk_recognition_msg/PointsArray)

  Output aligned reference point cloud array.

  Publish when parameter use_array is true.

• ~output/pose_array (geometry_msg/PoseArray)

  Output aligned reference pose array.

  Publish when parameter use_array is true.

Parameters

• ~use_array (Boolean, default: false)

  Determine whether reference format is jsk_recognition_msg/PointsArray or sensor_msgs/PointCloud2

• ~queue_size (Int, defalut: 100)

  Queue size

• ~approximate_sync (Boolean, default false)

  Select to use approximate sync policy

• search_radius (Double, default 0.05)

  Search radius for normal calculation

• sampling rate (Int, default 10)

  Sampling rate for registration

• position_clustering_threshold (Double, default 0.2)

  Position clustering threshold for registration

• rotation_clustering_threshold (Double, defalut 30)

  Rotation clustering threshold for registration

Sample

roslaunch jsk_pcl_ros sample_ppf_registration.launch