pcl_ros::VFHEstimation Class Reference

VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <vfh.h>

Inheritance diagram for pcl_ros::VFHEstimation:

List of all members.

Private Types
typedef pcl::PointCloud < pcl::VFHSignature308 >	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::VFHEstimation < pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308 >	impl_

---

Detailed Description

VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals.

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 53 of file vfh.h.

---

Member Typedef Documentation

typedef pcl::PointCloud<pcl::VFHSignature308> pcl_ros::VFHEstimation::PointCloudOut [private]

Definition at line 58 of file vfh.h.

---

Member Function Documentation

bool pcl_ros::VFHEstimation::childInit

(

ros::NodeHandle &

nh

)

[inline, private, virtual]

Child initialization routine. Internal method.

Implements pcl_ros::FeatureFromNormals.

Definition at line 62 of file vfh.h.

void pcl_ros::VFHEstimation::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/vfh.cpp.

void pcl_ros::VFHEstimation::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/vfh.cpp.

---

Member Data Documentation

pcl::VFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308> pcl_ros::VFHEstimation::impl_ [private]

Definition at line 56 of file vfh.h.

---

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

• vfh.h
• features/vfh.cpp
• filters/features/vfh.cpp