关键点聚类对象识别

rosrun my_pcl_tutorial correspondence_grouping_node milk_pose_changed.pcd  milk_cartoon_all_small_clorox.pcd  --algorithm Hough -k -c --cg_thresh 2
Failed to find match for field 'rgba'.
Model total points: 13704; Selected Keypoints: 750
Scene total points: 307200; Selected Keypoints: 3747
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2918
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3399
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2153
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3578
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3135
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3159
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3704
Correspondences found: 1771
Model instances found: 1

    Instance 1:
        Correspondences belonging to this instance: 16

            |  1.000  0.000 -0.000 | 
        R = | -0.000  1.000 -0.000 | 
            |  0.000  0.000  1.000 | 

        t = < -0.034, 0.069, -0.103 >
Camera parameters saved, you can press CTRL + R to restore.
Camera parameters saved, you can press CTRL + R to restore.

 rosrun my_pcl_tutorial correspondence_grouping_node milmi@mi-TM1701:~/test_pcl$ rosrun my_pcl_tutorial correspondence_grouping_node milk_pose_changed.pcd  milk_cartoon_all_small_clorox.pcd  --algorithm Hough -k -c --cg_thresh 2
Failed to find match for field 'rgba'.
Model total points: 13704; Selected Keypoints: 750
Scene total points: 307200; Selected Keypoints: 3747
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2918
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3399
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2153
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3578
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3135
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3159
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3704
Correspondences found: 1771
Model instances found: 1

    Instance 1:
        Correspondences belonging to this instance: 16

            |  1.000  0.000 -0.000 | 
        R = | -0.000  1.000 -0.000 | 
            |  0.000  0.000  1.000 | 

        t = < -0.034, 0.069, -0.103 >
Camera parameters saved, you can press CTRL + R to restore.
Camera parameters saved, you can press CTRL + R to restore.


^C
mi@mi-TM1701:~/test_pcl$ rosrun my_pcl_tutorial correspondence_grouping_node milk_pose_changed.pcd  milk_cartoon_all_small_clorox.pcd  --algorithm GC -k -c
Failed to find match for field 'rgba'.
Model total points: 13704; Selected Keypoints: 750
Scene total points: 307200; Selected Keypoints: 3747
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2918
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3399
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2153
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3578
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3135
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3159
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3704
Correspondences found: 1771
Model instances found: 1

    Instance 1:
        Correspondences belonging to this instance: 32

            |  1.000  0.011  0.024 | 
        R = | -0.011  1.000  0.019 | 
            | -0.024 -0.019  1.000 | 

        t = < -0.054, 0.053, -0.107 >