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 | Description | Default | Range |
|---|---|---|---|---|
| accumulation_time_sec | float | accumulation period [s] | 2 | ≥0 |
| pointcloud_buffer_size | integer | buffer size | 50 | ≥0 |