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>
Public Types | |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
Public Member Functions | |
| FPFHEstimationOMP () | |
| Empty constructor. | |
| FPFHEstimationOMP (unsigned int nr_threads) | |
| Initialize the scheduler and set the number of threads to use. | |
| void | setNumberOfThreads (unsigned int nr_threads) |
| Initialize the scheduler and set the number of threads to use. | |
Public Attributes | |
| int | nr_bins_f1_ |
| The number of subdivisions for each angular feature interval. | |
| int | nr_bins_f2_ |
| int | nr_bins_f3_ |
Private Member Functions | |
| void | computeFeature (PointCloudOut &output) |
| Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
| void | computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &) |
| Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class. | |
Private Attributes | |
| unsigned int | threads_ |
| The number of threads the scheduler should use. | |
Detailed Description
template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >
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.
- Attention:
- The convention for FPFH features is:
- if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN (not a number)
- it is impossible to estimate a FPFH descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its FPFH feature property set to NaN.
Definition at line 72 of file fpfh_omp.h.
Member Typedef Documentation
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::PointCloudOut |
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 88 of file fpfh_omp.h.
Constructor & Destructor Documentation
| pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP | ( | ) | [inline] |
Empty constructor.
Definition at line 91 of file fpfh_omp.h.
| pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP | ( | unsigned int | nr_threads | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
- Parameters:
-
[in] nr_threads the number of hardware threads to use (-1 sets the value back to automatic)
Definition at line 99 of file fpfh_omp.h.
Member Function Documentation
| void pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [private, virtual] |
Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
- Parameters:
-
[out] output the resultant point cloud model dataset that contains the FPFH feature estimates
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 47 of file fpfh_omp.hpp.
| void pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::computeFeatureEigen | ( | pcl::PointCloud< Eigen::MatrixXf > & | ) | [inline, private, virtual] |
Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.
- Parameters:
-
[out] output the output point cloud
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 135 of file fpfh_omp.h.
| void pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::setNumberOfThreads | ( | unsigned int | nr_threads | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
- Parameters:
-
[in] nr_threads the number of hardware threads to use (-1 sets the value back to automatic)
Definition at line 108 of file fpfh_omp.h.
Member Data Documentation
| int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::nr_bins_f1_ |
The number of subdivisions for each angular feature interval.
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 126 of file fpfh_omp.h.
| int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::nr_bins_f2_ |
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 126 of file fpfh_omp.h.
| int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::nr_bins_f3_ |
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 126 of file fpfh_omp.h.
unsigned int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::threads_ [private] |
The number of threads the scheduler should use.
Definition at line 129 of file fpfh_omp.h.
The documentation for this class was generated from the following files: