This nodelet will subscribe point cloud, and publish smoothed one. Please refer about MovingLeastSquare in http://pointclouds.org/documentation/tutorials/resampling.php
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~input
(sensor_msgs/PointCloud2
)Input pointcloud.
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~output
(sensor_msgs/PointCloud2
)Smoothed pointcloud.
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~gauss_param_set
(Boolean, default:False
)Whether set gauss param or not
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~search_radius
(Double, default:0.03
)Nearest Neighbor Search param
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~use_polynomial_fit
(Boolean, default:False
)Whether use polynomial_fit or not
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~polynomial_order
(Int, default:2
)Set polynomial order
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~calc_normal
(Boolean, default:True
)calc_normal
roslaunch jsk_pcl_ros sample_moving_least_square_smoothing.launch