108 lines
3.9 KiB
C++
108 lines
3.9 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*/
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#ifndef PCL_FEATURES_IMPL_SHOT_LRF_OMP_H_
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#define PCL_FEATURES_IMPL_SHOT_LRF_OMP_H_
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#include <pcl/features/shot_lrf_omp.h>
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#include <pcl/features/shot_lrf.h>
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//////////////////////////////////////////////////////////////////////////////////////////////
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template<typename PointInT, typename PointOutT> void
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pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::setNumberOfThreads (unsigned int nr_threads)
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{
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if (nr_threads == 0)
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#ifdef _OPENMP
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threads_ = omp_get_num_procs();
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#else
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threads_ = 1;
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#endif
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else
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threads_ = nr_threads;
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template<typename PointInT, typename PointOutT> void
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pcl::SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
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{
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//check whether used with search radius or search k-neighbors
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if (this->getKSearch () != 0)
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{
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PCL_ERROR(
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"[pcl::%s::computeFeature] Error! Search method set to k-neighborhood. Call setKSearch(0) and setRadiusSearch( radius ) to use this class.\n",
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getClassName().c_str ());
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return;
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}
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tree_->setSortedResults (true);
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#pragma omp parallel for \
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default(none) \
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shared(output) \
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num_threads(threads_)
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for (std::ptrdiff_t i = 0; i < static_cast<std::ptrdiff_t> (indices_->size ()); ++i)
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{
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// point result
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Eigen::Matrix3f rf;
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PointOutT& output_rf = output[i];
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//output_rf.confidence = getLocalRF ((*indices_)[i], rf);
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//if (output_rf.confidence == std::numeric_limits<float>::max ())
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pcl::Indices n_indices;
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std::vector<float> n_sqr_distances;
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this->searchForNeighbors ((*indices_)[i], search_parameter_, n_indices, n_sqr_distances);
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if (getLocalRF ((*indices_)[i], rf) == std::numeric_limits<float>::max ())
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{
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output.is_dense = false;
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}
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for (int d = 0; d < 3; ++d)
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{
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output_rf.x_axis[d] = rf.row (0)[d];
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output_rf.y_axis[d] = rf.row (1)[d];
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output_rf.z_axis[d] = rf.row (2)[d];
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}
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}
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}
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#define PCL_INSTANTIATE_SHOTLocalReferenceFrameEstimationOMP(T,OutT) template class PCL_EXPORTS pcl::SHOTLocalReferenceFrameEstimationOMP<T,OutT>;
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#endif // PCL_FEATURES_IMPL_SHOT_LRF_H_
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