Private Types | Private Member Functions | Private Attributes | List of all members
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:
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::FPFHEstimationOMP< 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

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:
Author
Radu Bogdan Rusu

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)
inlineprivatevirtual

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 
)
privatevirtual

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)
privatevirtual

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:


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