pcl_ros::MomentInvariantsEstimation Class Reference

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. More...

#include <moment_invariants.h>

Inheritance diagram for pcl_ros::MomentInvariantsEstimation:

List of all members.

Private Types
typedef pcl::PointCloud < pcl::MomentInvariants >	PointCloudOut
Private Member Functions
bool	childInit (ros::NodeHandle &nh)
	Child initialization routine. Internal method.
void	computePublish (const PointCloudInConstPtr &cloud, 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::MomentInvariantsEstimation < pcl::PointXYZ, pcl::MomentInvariants >	impl_

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Detailed Description

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.

Note:

The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOpenMP and NormalEstimationTBB for examples on how to extend this to parallel implementations.

Author:

Radu Bogdan Rusu

Definition at line 52 of file moment_invariants.h.

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Member Typedef Documentation

typedef pcl::PointCloud<pcl::MomentInvariants> pcl_ros::MomentInvariantsEstimation::PointCloudOut [private]

Definition at line 57 of file moment_invariants.h.

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Member Function Documentation

bool pcl_ros::MomentInvariantsEstimation::childInit

(

ros::NodeHandle &

nh

)

[inline, private, virtual]

Child initialization routine. Internal method.

Implements pcl_ros::Feature.

Definition at line 61 of file moment_invariants.h.

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

Compute the feature and publish it.

Implements pcl_ros::Feature.

Definition at line 50 of file moment_invariants.cpp.

void pcl_ros::MomentInvariantsEstimation::emptyPublish

(

const PointCloudInConstPtr &

cloud

)

[private, virtual]

Publish an empty point cloud of the feature output type.

Implements pcl_ros::Feature.

Definition at line 42 of file moment_invariants.cpp.

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Member Data Documentation

pcl::MomentInvariantsEstimation<pcl::PointXYZ, pcl::MomentInvariants> pcl_ros::MomentInvariantsEstimation::impl_ [private]

Definition at line 55 of file moment_invariants.h.

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

• moment_invariants.h
• moment_invariants.cpp