NormalEstimationOMP

../../_images/normal_estimation_omp.png

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

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud. Point type is pcl::PointXYZRGB.

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::PointXYZRGBNormal.

  • ~output/latest_time (std_msgs/Float32)

    latest computation time

  • ~output/average_time (std_msgs/Float32)

    average computation time

Parameters

  • ~number_of_threads (Int, default: 0)

    Number of hardware threads to use.

    If 0 is specified, the number will be automatically determined.

  • ~k_search (Int, default: 10)

    Number of k-nearest neighbors to search for.

    This parameter can be changed by dynamic_reconfigure.

  • ~radius_search (Float, default: 0.0)

    Sphere radius for nearest neighbor search.

    This parameter can be changed by dynamic_reconfigure.

Note that either ~k_search or ~radius_search must be set to 0.

Sample

roslaunch jsk_pcl_ros sample_normal_estimation_omp.launch