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

#include <pfh.h>

Inheritance diagram for pcl_ros::PFHEstimation:

[legend]

Private Types
typedef pcl::PointCloud< pcl::PFHSignature125 >	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::PFHEstimation< pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125 >	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::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

PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing points and normals.

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

R.B. Rusu, N. Blodow, Z.C. Marton, M. Beetz. Aligning Point Cloud Views using Persistent Feature Histograms. In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26 2008.
R.B. Rusu, Z.C. Marton, N. Blodow, M. Beetz. Learning Informative Point Classes for the Acquisition of Object Model Maps. In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 17-20 2008.

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 pfh.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::PFHSignature125> pcl_ros::PFHEstimation::PointCloudOut

private

Definition at line 73 of file pfh.h.

Member Function Documentation

bool pcl_ros::PFHEstimation::childInit ( ros::NodeHandle & nh )

inlineprivatevirtual

Child initialization routine. Internal method.

Implements pcl_ros::FeatureFromNormals.

Definition at line 77 of file pfh.h.

void pcl_ros::PFHEstimation::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/pfh.cpp.

void pcl_ros::PFHEstimation::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/pfh.cpp.

Member Data Documentation

pcl::PFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125> pcl_ros::PFHEstimation::impl_

private

Definition at line 71 of file pfh.h.

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

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation