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. (point type is pcl::PointXYZRGB)

Publishing Topics

  • ~output (sensor_msgs/PointCloud2)

    Output normals. (point type is pcl::Normal)

  • ~output_with_xyz (sensor_msgs/PointCloud2)

    Output point cloud with normal field. (point type is pcl::PointXYZRGBNormal)

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.

Parameters above can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros sample_normal_estimation_integral_image.launch