MovingLeastSquareSmoothing

../../_images/moving_least_square_smoothing.png

What Is This

This nodelet will subscribe point cloud, and publish smoothed one. Please refer about MovingLeastSquare in http://pointclouds.org/documentation/tutorials/resampling.php

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud.

Publishing Topics

  • ~output (sensor_msgs/PointCloud2)

    Smoothed pointcloud.

Parameters

  • ~gauss_param_set (Boolean, default: False)

    Whether set gauss param or not

  • ~search_radius (Double, default: 0.03)

    Nearest Neighbor Search param

  • ~use_polynomial_fit (Boolean, default: False)

    Whether use polynomial_fit or not

  • ~polynomial_order (Int, default: 2)

    Set polynomial order

  • ~calc_normal (Boolean, default: True)

    calc_normal

Sample

roslaunch jsk_pcl_ros sample_moving_least_square_smoothing.launch