PointcloudToSTL¶
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.
Parameters¶
~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.
Sample¶
roslaunch jsk_pcl_ros_utils sample_pointcloud_to_stl.launch