BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle criterion. The code makes use of the estimated surface normals at each point in the input data set. FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals. FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard. MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard. NodeletMUX represent a mux nodelet for PointCloud topics: it takes N (up to 8) input topics, and publishes all of them on one output topic. NodeletDEMUX represent a demux nodelet for PointCloud topics: it publishes 1 input topic to N output topics. PCDReader reads in a PCD (Point Cloud Data) v.5 file from disk and converts it to a PointCloud message. BAGReader reads in sensor_msgs/PointCloud2 messages from BAG files. PCDWriter writes a PointCloud message to disk in a PCD (Point Cloud Data) v.5 file format. PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into a single PointCloud output message. PointCloudConcatenateDataSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on different topics, and concatenates them together into a single PointCloud output message. PassThrough is a filter that uses the basic Filter class mechanisms for passing data around. VoxelGrid assembles a local 3D grid over a given PointCloud, and uses that to downsample the data. ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a separate PointCloud. ExtractIndices extracts a set of indices from a PointCloud as a separate PointCloud. StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. CropBox is a filter that allows the user to filter all the data inside of a given box.