OctreeChangeDetector

What Is This

This nodelet will publish the difference of sequential pointcloud. You can get the newly generated pointclouds.

Difference with pcl_ros/SegmentDifference refer https://github.com/jsk-ros-pkg/jsk_recognition/pull/67

Sample

Plug the depth sensor which can be launched by openni.launch and run the below command.

roslaunch jsk_pcl_ros octree_change_detector.launch

Speed