Feature represents the base feature class. Some generic 3D operations that are applicable to all features are defined here as static methods. More...

#include <feature.h>

Inheritance diagram for pcl_ros::Feature:

[legend]

List of all members.

Public Types
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 Member Functions
	Feature ()
	Empty constructor.
Protected Member Functions
virtual bool	childInit (ros::NodeHandle &nh)=0
	Child initialization routine. Internal method.
virtual void	computePublish (const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &surface, const IndicesPtr &indices)=0
	Compute the feature and publish it. Internal method.
void	config_callback (FeatureConfig &config, uint32_t level)
	Dynamic reconfigure callback.
virtual void	emptyPublish (const PointCloudInConstPtr &cloud)=0
	Publish an empty point cloud of the feature output type.
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.
Protected Attributes
int	k_
	The number of K nearest neighbors to use for each point.
message_filters::PassThrough < PointCloudIn >	nf_pc_
message_filters::PassThrough < PointIndices >	nf_pi_
	Null passthrough filter, used for pushing empty elements in the synchronizer.
double	search_radius_
	The nearest neighbors search radius for each point.
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.
boost::shared_ptr < dynamic_reconfigure::Server < FeatureConfig > >	srv_
	Pointer to a dynamic reconfigure service.
ros::Subscriber	sub_input_
	The input PointCloud subscriber.
message_filters::Subscriber < PointCloudIn >	sub_surface_filter_
	The surface PointCloud subscriber filter.
KdTreePtr	tree_
	The input point cloud dataset.
bool	use_surface_
	Set to true if the nodelet needs to listen for incoming point clouds representing the search surface.
Private Member Functions
void	input_surface_indices_callback (const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &cloud_surface, const PointIndicesConstPtr &indices)
	Input point cloud callback. Used when use_indices and use_surface are set.
virtual void	onInit ()
	Nodelet initialization routine.
Private Attributes
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ApproximateTime < PointCloudIn, PointCloudIn, PointIndices > > >	sync_input_surface_indices_a_
	Synchronized input, surface, and point indices.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ExactTime < PointCloudIn, PointCloudIn, PointIndices > > >	sync_input_surface_indices_e_

Detailed Description

Feature represents the base feature class. Some generic 3D operations that are applicable to all features are defined here as static methods.

Author:: Radu Bogdan Rusu

Definition at line 63 of file feature.h.

Member Typedef Documentation

typedef boost::shared_ptr<const std::vector<int> > pcl_ros::Feature::IndicesConstPtr

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 74 of file feature.h.

typedef boost::shared_ptr<std::vector<int> > pcl_ros::Feature::IndicesPtr

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 73 of file feature.h.

typedef pcl::KdTree<pcl::PointXYZ> pcl_ros::Feature::KdTree

Definition at line 66 of file feature.h.

typedef pcl::KdTree<pcl::PointXYZ>::Ptr pcl_ros::Feature::KdTreePtr

Definition at line 67 of file feature.h.

typedef pcl::PointCloud<pcl::PointXYZ> pcl_ros::Feature::PointCloudIn

Definition at line 69 of file feature.h.

typedef PointCloudIn::ConstPtr pcl_ros::Feature::PointCloudInConstPtr

Definition at line 71 of file feature.h.

typedef PointCloudIn::Ptr pcl_ros::Feature::PointCloudInPtr

Definition at line 70 of file feature.h.

Constructor & Destructor Documentation

pcl_ros::Feature::Feature ( ) [inline]

Empty constructor.

Definition at line 77 of file feature.h.

Member Function Documentation

virtual bool pcl_ros::Feature::childInit ( ros::NodeHandle & nh ) [protected, pure virtual]

Child initialization routine. Internal method.

Implemented in pcl_ros::FeatureFromNormals, pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::NormalEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::NormalEstimationTBB, pcl_ros::VFHEstimation, pcl_ros::MomentInvariantsEstimation, and pcl_ros::NormalEstimationOMP.

virtual void pcl_ros::Feature::computePublish	(	const PointCloudInConstPtr &	cloud,
		const PointCloudInConstPtr &	surface,
		const IndicesPtr &	indices
	)		`[protected, pure virtual]`

Compute the feature and publish it. Internal method.

Implemented in pcl_ros::FeatureFromNormals, pcl_ros::NormalEstimation, pcl_ros::NormalEstimationTBB, pcl_ros::MomentInvariantsEstimation, and pcl_ros::NormalEstimationOMP.

void pcl_ros::Feature::config_callback	(	FeatureConfig &	config,
		uint32_t	level
	)		`[protected]`

Dynamic reconfigure callback.

Parameters:

config	the config object
level	the dynamic reconfigure level

Definition at line 153 of file features/feature.cpp.

virtual void pcl_ros::Feature::emptyPublish ( const PointCloudInConstPtr & cloud ) [protected, pure virtual]

Publish an empty point cloud of the feature output type.

Implemented in pcl_ros::FeatureFromNormals, pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::NormalEstimation, pcl_ros::BoundaryEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::NormalEstimationTBB, pcl_ros::VFHEstimation, pcl_ros::MomentInvariantsEstimation, and pcl_ros::NormalEstimationOMP.

void pcl_ros::Feature::input_callback ( const PointCloudInConstPtr & input ) [inline, protected]

Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp.

Definition at line 147 of file feature.h.

void pcl_ros::Feature::input_surface_indices_callback	(	const PointCloudInConstPtr &	cloud,
		const PointCloudInConstPtr &	cloud_surface,
		const PointIndicesConstPtr &	indices
	)		`[private]`

Input point cloud callback. Used when use_indices and use_surface are set.

Parameters:

cloud	the pointer to the input point cloud
cloud_surface	the pointer to the surface point cloud
indices	the pointer to the input point cloud indices

DEBUG

Definition at line 169 of file features/feature.cpp.

void pcl_ros::Feature::onInit ( ) [private, virtual]

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::FeatureFromNormals.

Definition at line 56 of file features/feature.cpp.

Member Data Documentation

int pcl_ros::Feature::k_ [protected]

The number of K nearest neighbors to use for each point.

Definition at line 95 of file feature.h.

message_filters::PassThrough<PointCloudIn> pcl_ros::Feature::nf_pc_ [protected]

Definition at line 140 of file feature.h.

message_filters::PassThrough<PointIndices> pcl_ros::Feature::nf_pi_ [protected]

Null passthrough filter, used for pushing empty elements in the synchronizer.

Definition at line 139 of file feature.h.

double pcl_ros::Feature::search_radius_ [protected]

The nearest neighbors search radius for each point.

Definition at line 98 of file feature.h.

int pcl_ros::Feature::spatial_locator_type_ [protected]

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.

Definition at line 115 of file feature.h.

boost::shared_ptr<dynamic_reconfigure::Server<FeatureConfig> > pcl_ros::Feature::srv_ [protected]

Pointer to a dynamic reconfigure service.

Definition at line 118 of file feature.h.

ros::Subscriber pcl_ros::Feature::sub_input_ [protected]

The input PointCloud subscriber.

Definition at line 105 of file feature.h.

message_filters::Subscriber<PointCloudIn> pcl_ros::Feature::sub_surface_filter_ [protected]

The surface PointCloud subscriber filter.

Definition at line 102 of file feature.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > > pcl_ros::Feature::sync_input_surface_indices_a_ [private]

Synchronized input, surface, and point indices.

Definition at line 159 of file feature.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > > pcl_ros::Feature::sync_input_surface_indices_e_ [private]

Definition at line 160 of file feature.h.

KdTreePtr pcl_ros::Feature::tree_ [protected]

The input point cloud dataset.

A pointer to the vector of point indices to use. An input point cloud describing the surface that is to be used for nearest neighbors estimation. A pointer to the spatial search object.

Definition at line 79 of file feature.h.

bool pcl_ros::Feature::use_surface_ [protected]

Set to true if the nodelet needs to listen for incoming point clouds representing the search surface.

Definition at line 108 of file feature.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation