45 output.header = cloud->header;
63 impl_.setInputCloud (cloud);
64 impl_.setIndices (indices);
65 impl_.setSearchSurface (surface);
66 impl_.setInputNormals (normals);
69 impl_.compute (output);
73 output.header = cloud->header;
void publish(const boost::shared_ptr< M > &message) const
pcl::FPFHEstimationOMP< pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33 > impl_
FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point clou...
int k_
The number of K nearest neighbors to use for each point.
PointCloudN::ConstPtr PointCloudNConstPtr
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
boost::shared_ptr< std::vector< int > > IndicesPtr
double search_radius_
The nearest neighbors search radius for each point.
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
int spatial_locator_type_
Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Near...
pcl_ros::FPFHEstimationOMP FPFHEstimationOMP
ros::Publisher pub_output_
The output PointCloud publisher.
PointCloudIn::ConstPtr PointCloudInConstPtr
KdTreePtr tree_
The input point cloud dataset.
PLUGINLIB_EXPORT_CLASS(FPFHEstimationOMP, nodelet::Nodelet)
pcl::PointCloud< pcl::FPFHSignature33 > PointCloudOut