KeypointsPublisher

../../_images/keypoints_publisher.png

What Is This

This nodelet will calculate the NARF keypoints and publish.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud. Point type should be pcl::PointXYZ.

    The point cloud should be organized.

Publishing Topic

  • ~nerf_keypoints (sensor_msgs/PointCloud2)

    Point cloud of keypoints.

Parameters

None.

Sample

roslaunch jsk_pcl_ros sample_keypoints_publisher.launch