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Properties

largescale.png smallscale.png

Getting started

The package contains a launch file that computes multiresolution normals in a nodelet.

$ roslaunch octreelib normalestimation_nodelet.launch

The input PointCloud2 topic of the nodelet is mapped to /camera/depth/points for Kinect depth streams. The launch file also starts RViz with a proper configuration to visualize output normals from the PointCloud2 output messages and visualization markers.

ROS API

normalestimation_nodelet

normalestimation_nodelet calculates multiresolution normals on arbitrary point clouds.

Subscribed Topics

~input (sensor_msgs/PointCloud2)

Published Topics

~output_layerN (sensor_msgs/PointCloud2) ~visualization_marker_array (visualization_msgs/MarkerArray)

Parameters

~fixed_size (bool, default: true) ~min_resolution (double, default: 0.005) ~max_range (double, default: 30.0) ~min_points_for_fit (int, default: 25)


2020-02-22 13:00