Private Types | Private Member Functions | Private Attributes | List of all members
pcl_ros::FPFHEstimation Class Reference

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

#include <fpfh.h>

Inheritance diagram for pcl_ros::FPFHEstimation:
Inheritance graph
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Private Types

typedef pcl::PointCloud< pcl::FPFHSignature33 > PointCloudOut
 

Private Member Functions

bool childInit (ros::NodeHandle &nh)
 Child initialization routine. Internal method. More...
 
void computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
 Compute the feature and publish it. More...
 
void emptyPublish (const PointCloudInConstPtr &cloud)
 Publish an empty point cloud of the feature output type. More...
 

Private Attributes

pcl::FPFHEstimation< pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33 > impl_
 

Additional Inherited Members

- Public Types inherited from pcl_ros::FeatureFromNormals
typedef sensor_msgs::PointCloud2 PointCloud2
 
typedef pcl::PointCloud< pcl::Normal > PointCloudN
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef PointCloudN::Ptr PointCloudNPtr
 
- Public Types inherited from pcl_ros::Feature
typedef boost::shared_ptr< const std::vector< int > > IndicesConstPtr
 
typedef boost::shared_ptr< std::vector< int > > IndicesPtr
 
typedef pcl::KdTree< pcl::PointXYZ > KdTree
 
typedef pcl::KdTree< pcl::PointXYZ >::Ptr KdTreePtr
 
typedef pcl::PointCloud< pcl::PointXYZ > PointCloudIn
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
- Public Types inherited from pcl_ros::PCLNodelet
typedef boost::shared_ptr< const std::vector< int > > IndicesConstPtr
 
typedef boost::shared_ptr< std::vector< int > > IndicesPtr
 
typedef pcl_msgs::ModelCoefficients ModelCoefficients
 
typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr
 
typedef ModelCoefficients::Ptr ModelCoefficientsPtr
 
typedef pcl::PointCloud< pcl::PointXYZ > PointCloud
 
typedef sensor_msgs::PointCloud2 PointCloud2
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef pcl_msgs::PointIndices PointIndices
 
typedef PointIndices::ConstPtr PointIndicesConstPtr
 
typedef PointIndices::Ptr PointIndicesPtr
 
- Public Member Functions inherited from pcl_ros::FeatureFromNormals
 FeatureFromNormals ()
 
- Public Member Functions inherited from pcl_ros::Feature
 Feature ()
 Empty constructor. More...
 
- Public Member Functions inherited from pcl_ros::PCLNodelet
 PCLNodelet ()
 Empty constructor. More...
 
- Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
 NodeletLazy ()
 
- Public Member Functions inherited from nodelet::Nodelet
void init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
 
 Nodelet ()
 
virtual ~Nodelet ()
 
- Protected Member Functions inherited from pcl_ros::Feature
void config_callback (FeatureConfig &config, uint32_t level)
 Dynamic reconfigure callback. More...
 
void input_callback (const PointCloudInConstPtr &input)
 Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp. More...
 
- Protected Member Functions inherited from pcl_ros::PCLNodelet
bool isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input")
 Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...
 
bool isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input")
 Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...
 
bool isValid (const PointIndicesConstPtr &indices, const std::string &topic_name="indices")
 Test whether a given PointIndices message is "valid" (i.e., has values). More...
 
bool isValid (const ModelCoefficientsConstPtr &model, const std::string &topic_name="model")
 Test whether a given ModelCoefficients message is "valid" (i.e., has values). More...
 
- Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)
 
virtual void connectionCallback (const ros::SingleSubscriberPublisher &pub)
 
virtual void onInitPostProcess ()
 
virtual void warnNeverSubscribedCallback (const ros::WallTimerEvent &event)
 
- Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterfacegetMTCallbackQueue () const
 
ros::NodeHandlegetMTNodeHandle () const
 
ros::NodeHandlegetMTPrivateNodeHandle () const
 
const V_stringgetMyArgv () const
 
const std::string & getName () const
 
ros::NodeHandlegetNodeHandle () const
 
ros::NodeHandlegetPrivateNodeHandle () const
 
const M_stringgetRemappingArgs () const
 
ros::CallbackQueueInterfacegetSTCallbackQueue () const
 
std::string getSuffixedName (const std::string &suffix) const
 
- Protected Attributes inherited from pcl_ros::FeatureFromNormals
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- Protected Attributes inherited from pcl_ros::Feature
int k_
 The number of K nearest neighbors to use for each point. More...
 
message_filters::PassThrough< PointCloudInnf_pc_
 
message_filters::PassThrough< PointIndicesnf_pi_
 Null passthrough filter, used for pushing empty elements in the synchronizer. More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int spatial_locator_type_
 Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Nearest Neigbor library) kd-tree 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree 2: Organized spatial dataset index. More...
 
boost::shared_ptr< dynamic_reconfigure::Server< FeatureConfig > > srv_
 Pointer to a dynamic reconfigure service. More...
 
ros::Subscriber sub_input_
 The input PointCloud subscriber. More...
 
message_filters::Subscriber< PointCloudInsub_surface_filter_
 The surface PointCloud subscriber filter. More...
 
KdTreePtr tree_
 The input point cloud dataset. More...
 
bool use_surface_
 Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. More...
 
- Protected Attributes inherited from pcl_ros::PCLNodelet
bool approximate_sync_
 True if we use an approximate time synchronizer versus an exact one (false by default). More...
 
bool latched_indices_
 Set to true if the indices topic is latched. More...
 
int max_queue_size_
 The maximum queue size (default: 3). More...
 
ros::Publisher pub_output_
 The output PointCloud publisher. More...
 
message_filters::Subscriber< PointIndicessub_indices_filter_
 The message filter subscriber for PointIndices. More...
 
message_filters::Subscriber< PointCloudsub_input_filter_
 The message filter subscriber for PointCloud2. More...
 
tf::TransformListener tf_listener_
 TF listener object. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
- Protected Attributes inherited from nodelet_topic_tools::NodeletLazy
boost::mutex connection_mutex_
 
ConnectionStatus connection_status_
 
bool ever_subscribed_
 
bool lazy_
 
boost::shared_ptr< ros::NodeHandlenh_
 
boost::shared_ptr< ros::NodeHandlepnh_
 
std::vector< ros::Publisherpublishers_
 
ros::WallTimer timer_ever_subscribed_
 
bool verbose_connection_
 

Detailed Description

FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals.

Note
If you use this code in any academic work, please cite:
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 fpfh.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::FPFHSignature33> pcl_ros::FPFHEstimation::PointCloudOut
private

Definition at line 73 of file fpfh.h.

Member Function Documentation

bool pcl_ros::FPFHEstimation::childInit ( ros::NodeHandle nh)
inlineprivatevirtual

Child initialization routine. Internal method.

Implements pcl_ros::FeatureFromNormals.

Definition at line 77 of file fpfh.h.

void pcl_ros::FPFHEstimation::computePublish ( const PointCloudInConstPtr cloud,
const PointCloudNConstPtr normals,
const PointCloudInConstPtr surface,
const IndicesPtr indices 
)
privatevirtual

Compute the feature and publish it.

Implements pcl_ros::FeatureFromNormals.

Definition at line 50 of file features/fpfh.cpp.

void pcl_ros::FPFHEstimation::emptyPublish ( const PointCloudInConstPtr cloud)
privatevirtual

Publish an empty point cloud of the feature output type.

Implements pcl_ros::FeatureFromNormals.

Definition at line 42 of file features/fpfh.cpp.

Member Data Documentation

pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> pcl_ros::FPFHEstimation::impl_
private

Definition at line 71 of file fpfh.h.


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


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Jun 5 2019 19:52:53