OctreeChangePublisher¶

../../_images/octree_change_publisher.png

What Is This¶

This nodelet will publish the difference of sequential pointcloud. You can get the newly generated pointclouds.

Difference with pcl_ros/SegmentDifference refer https://github.com/jsk-ros-pkg/jsk_recognition/pull/67

Subscribing Topic¶

~input (sensor_msgs/PointCloud2)

Input point cloud.

Publishing Topic¶

~octree_change_result (sensor_msgs/PointCloud2)

Point cloud which did not exist in previous time.

Parameters¶

~resolution (Float, default: 0.02)

Octree resolution at lowest octree level in meters.
~noise_filter (Int, default: 2)

Minimum amount of points required within leaf node to become serialized.

These parameters can be changed by dynamic_reconfigure.

Sample¶

roslaunch jsk_pcl_ros sample_octree_change_publisher.launch