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