What Is This

This nodelet converts organized pointcloud to stl mesh using pcl::OrganizedFastMesh and generates a stl file.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Organized point cloud.

Publishing Topic

  • ~pc_stl_mesh (visualization_msgs/Marker)

    Marker of output mesh.

Advertising Services

  • ~create_stl (jsk_recognition_msgs/SetPointCloud2):

    Service API to create a stl file from pointcloud data.

    Returns output filename.


  • ~filename (String, default: /tmp/$(ros::Time::now().toNSec())_pointcloud.stl)

    Path to STL mesh file.

  • ~triangle_pixel_size (Float, default: 1.0)

    Edge length (in pixels) used for constructing the fixed mesh.

  • ~max_edge_length (Float, default: 4.5)

    Maximum edge length.

  • ~store_shadow_faces (Bool, default: True)

    Store shadowed faces or not.

  • ~search_radius (Float, default: 0.05)

  • ~mu (Float, default: 3.5)

  • ~maximum_nearest_neighbors (Int, default: 100)

  • ~maximum_surface_angle (Float, default: pi / 4)

  • ~minimum_angle (Float, default: pi / 18)

  • ~maximum_angle (Float, default: pi * 2 / 3)

  • ~normal_consistency (Bool, default: False)

    These parametes are not used now.


roslaunch jsk_pcl_ros_utils sample_pointcloud_to_stl.launch