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::FPFHEstimationOMP< PointInT, PointNT, PointOutT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const FPFHEstimationOMP < PointInT, PointNT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef boost::shared_ptr < FPFHEstimationOMP< PointInT, PointNT, PointOutT > >	Ptr
Public Member Functions
	FPFHEstimationOMP (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use.
void	setNumberOfThreads (unsigned int nr_threads=0)
	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 ()
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.

Author:: Radu B. Rusu

Definition at line 75 of file fpfh_omp.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

typedef boost::shared_ptr<const FPFHEstimationOMP<PointInT, PointNT, PointOutT> > pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::ConstPtr

Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.

Definition at line 79 of file fpfh_omp.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.

Definition at line 93 of file fpfh_omp.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef boost::shared_ptr<FPFHEstimationOMP<PointInT, PointNT, PointOutT> > pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::Ptr

Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.

Definition at line 78 of file fpfh_omp.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP ( unsigned int nr_threads = 0 ) [inline]

Initialize the scheduler and set the number of threads to use.

Parameters:

[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 98 of file fpfh_omp.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

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 48 of file fpfh_omp.hpp.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::setNumberOfThreads ( unsigned int nr_threads = 0 ) [inline]