NormalEstimationIntegralImage

What is this?

../../../../_images/normal_estimation_integral_image.png

Compute normals for an organized point cloud using integral images.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud. (PointXYZRGB)

Publishing Topics

  • ~output (sensor_msgs/PointCloud2)

    Output normals.

Parameters

  • max_depth_change_factor (Double, default: 0.02)

    max depth change factor

  • normal_smoothing_size (Double, default: 20.0)

    normal smoothing size parameter

  • estimation_method (Int, default: 1)

    Estimation method.

    • 0: AVERAGE_3D_GRADIENT
    • 1: COVARIANCE_MATRIX
    • 2: AVERAGE_DEPTH_CHANGE
  • depth_dependent_smoothing (Boolean, default: false)

    Use depth dependent smoothing.

  • border_policy_ignore (Boolean, default: true)

    Ignore border policy.