== ROS API ==
The [[cob_3d_registration]] package provides a configurable node for point cloud registration. Input data is supposed to come from 3-D cameras like Microsoft Kinect.
{{{
#!clearsilver CS/NodeAPI
 name = registration_nodelet
 desc = The `registration_nodelet` nodelet takes in <<MsgLink(sensor_msgs/PointCloud2)>> messages and registers successive frames to each other. The register process can be triggered by the key_frame_detector node. Registration is activated by a trigger service.

goal{
 0.name=trigger_mapping/goal
 0.type=cob_3d_mapping_msgs/TriggerMappingActionGoal
 0.desc=empty
}

result{
 0.name=trigger_mapping/result
 0.type=cob_3d_mapping_msgs/TriggerMappingActionResult
 0.desc=empty
}

feedback{
 0.name=trigger_mapping/feedback
 0.type=cob_3d_mapping_msgs/TriggerMappingActionFeedback
 0.desc=empty
}

sub{
 0.name = /point_cloud2
 0.type = sensor_msgs/PointCloud2
 0.desc = The input point cloud
}

pub{
 0.name = /point_cloud2_aligned
 0.type = sensor_msgs/PointCloud2
 0.desc = The aligned point cloud
}

srv{
 1.name = trigger_keyframe
 1.type = cob_srvs/Trigger
 1.desc = Triggers a map update
}

param{
 0.name = ~world_frame_id
 0.type = string
 0.default = /map
 0.desc = Specifies frame id for which odometry is looked up.
 1.name = ~algo
 1.type = string
 1.default = icp
 1.desc = For registration different algorithms can be used. Allowed values are: [[http://ros.org/wiki/cob_3d_registration/icp|icp]], icp_lm, gicp, icp_moments, icp_fpfh, icp_narf, icp_edges, rgbdslam, [[http://ros.org/wiki/cob_3d_registration/info|info]], cor
 2.name = ~voxelsize
 2.type = double
 2.default = 0.04
 2.desc = Sets the cubic voxelsize in meter for preprocessing. Only needed for "icp", "icp_moments" and"icp_fpfh".
}
req_tf{
}

prov_tf{
}

}}}

== Usage/Examples ==
{{{
roslaunch cob_3d_registration registration.launch
}}}
Trigger mapping by calling
{{{
rosrun cob_3d_mapping_point_map trigger_mapping.py <start|stop>
}}}