pcl_ros::FPFHEstimation Class Reference

FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <fpfh.h>

Inheritance diagram for pcl_ros::FPFHEstimation:

[legend]

List of all members.

Private Types
typedef pcl::PointCloud < pcl::FPFHSignature33 >	PointCloudOut
Private Member Functions
bool	childInit (ros::NodeHandle &nh)
	Child initialization routine. Internal method.
void	computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesConstPtr &indices)
	Compute the feature and publish it.
void	emptyPublish (const PointCloudInConstPtr &cloud)
	Publish an empty point cloud of the feature output type.
Private Attributes
pcl::FPFHEstimation < pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33 >	impl_

---

Detailed Description

FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals.

Note:

If you use this code in any academic work, please cite:

• R.B. Rusu, N. Blodow, M. Beetz. Fast Point Feature Histograms (FPFH) for 3D Registration. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17 2009.
• R.B. Rusu, A. Holzbach, N. Blodow, M. Beetz. Fast Geometric Point Labeling using Conditional Random Fields. In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, October 11-15 2009.

Note:

The code is stateful as we do not expect this class to be multicore parallelized. Please look at FPFHEstimationOpenMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).

Author:

Radu Bogdan Rusu

Definition at line 66 of file fpfh.h.

---

Member Typedef Documentation

typedef pcl::PointCloud<pcl::FPFHSignature33> pcl_ros::FPFHEstimation::PointCloudOut [private]

Definition at line 47 of file fpfh.h.

---

Member Function Documentation

bool pcl_ros::FPFHEstimation::childInit

(

ros::NodeHandle &

nh

)

[inline, private, virtual]

Child initialization routine. Internal method.

Implements pcl_ros::FeatureFromNormals.

Definition at line 51 of file fpfh.h.

void pcl_ros::FPFHEstimation::computePublish	(	const PointCloudInConstPtr &	cloud,
		const PointCloudNConstPtr &	normals,
		const PointCloudInConstPtr &	surface,
		const IndicesConstPtr &	indices
	)			[private, virtual]

Compute the feature and publish it.

Implements pcl_ros::FeatureFromNormals.

Definition at line 50 of file fpfh.cpp.

void pcl_ros::FPFHEstimation::emptyPublish

(

const PointCloudInConstPtr &

cloud

)

[private, virtual]

Publish an empty point cloud of the feature output type.

Implements pcl_ros::FeatureFromNormals.

Definition at line 42 of file fpfh.cpp.

---

Member Data Documentation

pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> pcl_ros::FPFHEstimation::impl_ [private]

Definition at line 45 of file fpfh.h.

---

The documentation for this class was generated from the following files:

• fpfh.h
• fpfh.cpp