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>
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_ |
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.
Definition at line 65 of file fpfh_omp.h.
Member Typedef Documentation
typedef pcl::PointCloud<pcl::FPFHSignature33> pcl_ros::FPFHEstimationOMP::PointCloudOut [private] |
Definition at line 70 of file fpfh_omp.h.
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 features/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 features/fpfh_omp.cpp.
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.
The documentation for this class was generated from the following files: