NormalEstimationOMP

This nodelet is almost same to pcl/NormalEstimationOMP of pcl_ros package, but it can handle timestamp correctly.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Output pointcloud, point type is pcl::Normal.

  • ~output_with_xyz (sensor_msgs/PointCloud2)

    Output pointcloud, point type is pcl::XYZRGBNormal.

  • ~output/latest_time (std_msgs/Float32)

    latest computation time

  • ~output/average_time (std_msgs/Float32)

    average computation time

Parameters

  • ~k_search

    K search parameter for normal estimation

  • ~radius_search

    Radius search parameter for normal estimation