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:
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 boost::shared_ptr< const PointCloudN > | PointCloudNConstPtr |
| typedef boost::shared_ptr< PointCloudN > | PointCloudNPtr |
| Public Types inherited from pcl_ros::Feature | |
| typedef pcl::IndicesConstPtr | IndicesConstPtr |
| typedef pcl::IndicesPtr | IndicesPtr |
| typedef pcl::KdTree< pcl::PointXYZ > | KdTree |
| typedef pcl::KdTree< pcl::PointXYZ >::Ptr | KdTreePtr |
| typedef pcl::PointCloud< pcl::PointXYZ > | PointCloudIn |
| typedef boost::shared_ptr< const PointCloudIn > | PointCloudInConstPtr |
| typedef boost::shared_ptr< PointCloudIn > | PointCloudInPtr |
| Public Types inherited from pcl_ros::PCLNodelet | |
| typedef pcl::IndicesConstPtr | IndicesConstPtr |
| typedef pcl::IndicesPtr | 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 boost::shared_ptr< const PointCloud > | PointCloudConstPtr |
| typedef boost::shared_ptr< PointCloud > | 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 ModelCoefficientsConstPtr &, const std::string &="model") |
| Test whether a given ModelCoefficients message is "valid" (i.e., has values). More... | |
| 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 &, const std::string &="indices") |
| Test whether a given PointIndices 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::CallbackQueueInterface & | getMTCallbackQueue () const |
| ros::NodeHandle & | getMTNodeHandle () const |
| ros::NodeHandle & | getMTPrivateNodeHandle () const |
| const V_string & | getMyArgv () const |
| const std::string & | getName () const |
| ros::NodeHandle & | getNodeHandle () const |
| ros::NodeHandle & | getPrivateNodeHandle () const |
| const M_string & | getRemappingArgs () const |
| ros::CallbackQueueInterface & | getSTCallbackQueue () 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< PointCloudIn > | nf_pc_ |
| message_filters::PassThrough< PointIndices > | nf_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< PointCloudIn > | sub_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< PointIndices > | sub_indices_filter_ |
| The message filter subscriber for PointIndices. More... | |
| message_filters::Subscriber< PointCloud > | sub_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::NodeHandle > | nh_ |
| boost::shared_ptr< ros::NodeHandle > | pnh_ |
| std::vector< ros::Publisher > | publishers_ |
| 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:
- 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
◆ PointCloudOut
|
private |
Definition at line 70 of file fpfh_omp.h.
Member Function Documentation
◆ childInit()
|
inlineprivatevirtual |
Child initialization routine. Internal method.
Implements pcl_ros::FeatureFromNormals.
Definition at line 74 of file fpfh_omp.h.
◆ computePublish()
|
privatevirtual |
Compute the feature and publish it.
Implements pcl_ros::FeatureFromNormals.
Definition at line 50 of file fpfh_omp.cpp.
◆ emptyPublish()
|
privatevirtual |
Publish an empty point cloud of the feature output type.
Implements pcl_ros::FeatureFromNormals.
Definition at line 42 of file fpfh_omp.cpp.
Member Data Documentation
◆ impl_
|
private |
Definition at line 68 of file fpfh_omp.h.
The documentation for this class was generated from the following files: