NormalEstimationOMP¶
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