OctreeChangePublisher¶
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
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input point cloud.
Publishing Topic¶
~octree_change_result
(sensor_msgs/PointCloud2
)Point cloud which did not exist in previous time.
Parameters¶
~resolution
(Float, default:0.02
)Octree resolution at lowest octree level in meters.
~noise_filter
(Int, default:2
)Minimum amount of points required within leaf node to become serialized.
These parameters can be changed by dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros sample_octree_change_publisher.launch