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:
Private Types | |
| typedef pcl::PointCloud < pcl::PFHSignature125 > | PointCloudOut |
Private Member Functions | |
| bool | childInit (ros::NodeHandle &nh) |
| Child initialization routine. Internal method. | |
| void | computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices) |
| Compute the feature and publish it. | |
| void | emptyPublish (const PointCloudInConstPtr &cloud) |
| Publish an empty point cloud of the feature output type. | |
Private Attributes | |
| pcl::PFHEstimation < pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125 > | impl_ |
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).
Member Typedef Documentation
typedef pcl::PointCloud<pcl::PFHSignature125> pcl_ros::PFHEstimation::PointCloudOut [private] |
Member Function Documentation
| bool pcl_ros::PFHEstimation::childInit | ( | ros::NodeHandle & | nh | ) | [inline, private, virtual] |
Child initialization routine. Internal method.
Implements pcl_ros::FeatureFromNormals.
| void pcl_ros::PFHEstimation::computePublish | ( | const PointCloudInConstPtr & | cloud, |
| const PointCloudNConstPtr & | normals, | ||
| const PointCloudInConstPtr & | surface, | ||
| const IndicesPtr & | indices | ||
| ) | [private, virtual] |
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 | ) | [private, virtual] |
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
The documentation for this class was generated from the following files: