keypoints_publisher.md

KeypointsPublisher

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