NormalEstimationOMP

This nodelet is almost the same as pcl/NormalEstimationOMP of pcl_ros package, but it can handle timestamp correctly.

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

  Input pointcloud. Point type is pcl::PointXYZRGB.

Publishing Topic

• ~output (sensor_msgs/PointCloud2)

  Output pointcloud, point type is pcl::Normal.

• ~output_with_xyz (sensor_msgs/PointCloud2)

  Output pointcloud, point type is pcl::PointXYZRGBNormal.

• ~output/latest_time (std_msgs/Float32)

  latest computation time

• ~output/average_time (std_msgs/Float32)

  average computation time

Parameters

• ~number_of_threads (Int, default: 0)

  Number of hardware threads to use.

  If 0 is specified, the number will be automatically determined.

• ~k_search (Int, default: 10)

  Number of k-nearest neighbors to search for.

  This parameter can be changed by dynamic_reconfigure.

• ~radius_search (Float, default: 0.0)

  Sphere radius for nearest neighbor search.

  This parameter can be changed by dynamic_reconfigure.

Note that either ~k_search or ~radius_search must be set to 0.

Sample

roslaunch jsk_pcl_ros sample_normal_estimation_omp.launch