Class Feature

Inheritance Relationships

Base Type

  • public PCLNodelet

Derived Types

Class Documentation

class Feature : public PCLNodelet

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

Subclassed by pcl_ros::FeatureFromNormals, pcl_ros::MomentInvariantsEstimation, pcl_ros::NormalEstimation, pcl_ros::NormalEstimationOMP, pcl_ros::NormalEstimationTBB

Public Types

typedef pcl::KdTree<pcl::PointXYZ> KdTree
typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr
typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn
typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr
typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr
typedef pcl::IndicesPtr IndicesPtr
typedef pcl::IndicesConstPtr IndicesConstPtr

Public Functions

inline Feature()

Empty constructor.

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 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.

Parameters:

  • config – the config object

  • level – the dynamic reconfigure level

inline 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

KdTreePtr tree_

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.

int k_

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

double search_radius_

The nearest neighbors search radius for each point.

message_filters::Subscriber<PointCloudIn> sub_surface_filter_

The surface PointCloud subscriber filter.

ros::Subscriber sub_input_

The input PointCloud subscriber.

bool use_surface_

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

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.

message_filters::PassThrough<PointIndices> nf_pi_

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

message_filters::PassThrough<PointCloudIn> nf_pc_