er1_control tf_publisher_node tf_publisher_node_ point_processing_node_student registration_icp PointCloud<PointXYZRGB> PointXYZRGB transformation_epsilon_ tf_publisher tf_publisher_node_student point_processing_node registration_icp registration_feature CloudRGBA PointXYZRGBA 1543839202317 1543839202317 file://$PROJECT_DIR$/src/registration_feature/main.cpp 249