pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT > Class Template 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::FPFHEstimationOMP< PointInT, PointNT, PointOutT >:

[legend]

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
	FPFHEstimationOMP (int nr_threads)
	Initialize the scheduler and set the number of threads to use.
	FPFHEstimationOMP ()
	Empty constructor.
void	setNumberOfThreads (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 ().
Private Attributes
int	threads_
	The number of threads the scheduler should use.

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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.

Author:

Radu Bogdan Rusu

Definition at line 65 of file fpfh_omp.h.

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Member Typedef Documentation

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 57 of file fpfh_omp.h.

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Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP

(

)

[inline]

Empty constructor.

Definition at line 60 of file fpfh_omp.h.

template<typename PointInT, typename PointNT, typename PointOutT>

pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP

(

int

nr_threads

)

[inline]

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

Parameters:

nr_threads

the number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 68 of file fpfh_omp.h.

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Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::computeFeature

(

PointCloudOut &

output

)

[inline, 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:

output

the resultant point cloud model dataset that contains the FPFH feature estimates

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

Definition at line 45 of file fpfh_omp.hpp.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::setNumberOfThreads

(

int

nr_threads

)

[inline]

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

Parameters:

nr_threads

the number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 76 of file fpfh_omp.h.

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Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

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 89 of file fpfh_omp.h.

template<typename PointInT, typename PointNT, typename PointOutT>

int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::nr_bins_f2_

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

Definition at line 89 of file fpfh_omp.h.

template<typename PointInT, typename PointNT, typename PointOutT>

int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::nr_bins_f3_

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

Definition at line 89 of file fpfh_omp.h.

template<typename PointInT, typename PointNT, typename PointOutT>

int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::threads_ [private]

The number of threads the scheduler should use.

Definition at line 92 of file fpfh_omp.h.

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

• fpfh_omp.h
• fpfh_omp.hpp