pointcloud_accumulator#
Purpose#
The pointcloud_accumulator
is a node that accumulates pointclouds for a given amount of time.
Inner-workings / Algorithms#
Inputs / Outputs#
Input#
Name | Type | Description |
---|---|---|
~/input/points |
sensor_msgs::msg::PointCloud2 |
reference points |
Output#
Name | Type | Description |
---|---|---|
~/output/points |
sensor_msgs::msg::PointCloud2 |
filtered points |
Parameters#
Core Parameters#
Name | Type | Default Value | Description |
---|---|---|---|
accumulation_time_sec |
double | 2.0 | accumulation period [s] |
pointcloud_buffer_size |
int | 50 | buffer size |