pcl_ros::PFHEstimation Class Reference

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

#include <pfh.h>

Inheritance diagram for pcl_ros::PFHEstimation:

[legend]

List of all members.

Private Types
typedef pcl::PointCloud < pcl::PFHSignature125 >	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::PFHEstimation < pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125 >	impl_

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Detailed Description

PFHEstimation estimates the Point Feature Histogram (PFH) 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, Z.C. Marton, M. Beetz. Aligning Point Cloud Views using Persistent Feature Histograms. In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26 2008.
• R.B. Rusu, Z.C. Marton, N. Blodow, M. Beetz. Learning Informative Point Classes for the Acquisition of Object Model Maps. In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 17-20 2008.

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 68 of file pfh.h.

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Member Typedef Documentation

typedef pcl::PointCloud<pcl::PFHSignature125> pcl_ros::PFHEstimation::PointCloudOut [private]

Definition at line 73 of file pfh.h.

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Member Function Documentation

bool pcl_ros::PFHEstimation::childInit

(

ros::NodeHandle &

nh

)

[inline, private, virtual]

Child initialization routine. Internal method.

Implements pcl_ros::FeatureFromNormals.

Definition at line 77 of file pfh.h.

void pcl_ros::PFHEstimation::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 pfh.cpp.

void pcl_ros::PFHEstimation::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 pfh.cpp.

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Member Data Documentation

pcl::PFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125> pcl_ros::PFHEstimation::impl_ [private]

Definition at line 71 of file pfh.h.

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

• pfh.h
• pfh.cpp