This nodelet will publish the difference of sequential pointcloud. You can get the newly generated pointclouds.
Difference with pcl_ros/SegmentDifference
refer
#67
-
~input
(sensor_msgs/PointCloud2
)Input point cloud.
-
~octree_change_result
(sensor_msgs/PointCloud2
)Point cloud which did not exist in previous time.
-
~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
.
roslaunch jsk_pcl_ros sample_octree_change_publisher.launch