PCL Normal estimation with PointNormal
The NormalEstimation nodelet in pcl_ros produces point clouds whose point type is Normal (i.e., not including xyz). I have code that needs to work with PointNormals, i.e., x, y, z, nx, ny, nz. Now I could just subscribe to both the normal cloud and the original cloud but then I have to worry about time synchronization as well. Is there a simple way of solving this problem that doesn't require duplicating and modifying pcl_ros/normal_3d.cpp?
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