Class FeatureFromNormals

• Defined in File feature.hpp

Inheritance Relationships

Base Type

• public pcl_ros::Feature (Class Feature)

Derived Types

• public pcl_ros::BoundaryEstimation (Class BoundaryEstimation)

• public pcl_ros::FPFHEstimation (Class FPFHEstimation)

• public pcl_ros::FPFHEstimationOMP (Class FPFHEstimationOMP)

• public pcl_ros::PFHEstimation (Class PFHEstimation)

• public pcl_ros::PrincipalCurvaturesEstimation (Class PrincipalCurvaturesEstimation)

• public pcl_ros::SHOTEstimation (Class SHOTEstimation)

• public pcl_ros::SHOTEstimationOMP (Class SHOTEstimationOMP)

• public pcl_ros::VFHEstimation (Class VFHEstimation)

Class Documentation

class FeatureFromNormals : public pcl_ros::Feature

Subclassed by pcl_ros::BoundaryEstimation, pcl_ros::FPFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::PFHEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::SHOTEstimation, pcl_ros::SHOTEstimationOMP, pcl_ros::VFHEstimation

Public Types

typedef sensor_msgs::PointCloud2 PointCloud2

typedef pcl::PointCloud<pcl::Normal> PointCloudN

typedef boost::shared_ptr<PointCloudN> PointCloudNPtr

typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr

Public Functions

inline FeatureFromNormals()

Protected Functions

virtual bool childInit(ros::NodeHandle &nh) = 0

Child initialization routine. Internal method.

virtual void emptyPublish(const PointCloudInConstPtr &cloud) = 0

Publish an empty point cloud of the feature output type.

virtual void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices) = 0

Compute the feature and publish it.

Protected Attributes

PointCloudNConstPtr normals_

A pointer to the input dataset that contains the point normals of the XYZ dataset.