pcl_ros::FPFHEstimationOMP Class Reference

FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard. More...

#include <fpfh_omp.h>

Inheritance diagram for pcl_ros::FPFHEstimationOMP:

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 IndicesPtr &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::FPFHEstimationOMP < pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33 >	impl_

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Detailed Description

FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard.

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.

Author:

Radu Bogdan Rusu

Definition at line 65 of file fpfh_omp.h.

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Member Typedef Documentation

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

Definition at line 70 of file fpfh_omp.h.

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Member Function Documentation

bool pcl_ros::FPFHEstimationOMP::childInit

(

ros::NodeHandle &

nh

)

[inline, private, virtual]

Child initialization routine. Internal method.

Implements pcl_ros::FeatureFromNormals.

Definition at line 74 of file fpfh_omp.h.

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

Compute the feature and publish it.

Implements pcl_ros::FeatureFromNormals.

Definition at line 50 of file fpfh_omp.cpp.

void pcl_ros::FPFHEstimationOMP::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_omp.cpp.

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Member Data Documentation

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

Definition at line 68 of file fpfh_omp.h.

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

• fpfh_omp.h
• fpfh_omp.cpp