106 lines
4.3 KiB
C++
106 lines
4.3 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) 2010-2011, 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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*/
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#pragma once
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#include <pcl/features/normal_3d.h>
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namespace pcl
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{
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/** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
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* curvatures, in parallel, using the OpenMP standard.
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* \author Radu Bogdan Rusu
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* \ingroup features
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*/
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template <typename PointInT, typename PointOutT>
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class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<NormalEstimationOMP<PointInT, PointOutT> >;
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using ConstPtr = shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> >;
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using NormalEstimation<PointInT, PointOutT>::feature_name_;
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using NormalEstimation<PointInT, PointOutT>::getClassName;
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using NormalEstimation<PointInT, PointOutT>::indices_;
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using NormalEstimation<PointInT, PointOutT>::input_;
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using NormalEstimation<PointInT, PointOutT>::k_;
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using NormalEstimation<PointInT, PointOutT>::vpx_;
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using NormalEstimation<PointInT, PointOutT>::vpy_;
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using NormalEstimation<PointInT, PointOutT>::vpz_;
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using NormalEstimation<PointInT, PointOutT>::search_parameter_;
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using NormalEstimation<PointInT, PointOutT>::surface_;
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using NormalEstimation<PointInT, PointOutT>::getViewPoint;
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using PointCloudOut = typename NormalEstimation<PointInT, PointOutT>::PointCloudOut;
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public:
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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NormalEstimationOMP (unsigned int nr_threads = 0)
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{
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feature_name_ = "NormalEstimationOMP";
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setNumberOfThreads(nr_threads);
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}
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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void
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setNumberOfThreads (unsigned int nr_threads = 0);
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protected:
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/** \brief The number of threads the scheduler should use. */
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unsigned int threads_;
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private:
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/** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in
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* setSearchSurface () and the spatial locator in setSearchMethod ()
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* \param output the resultant point cloud model dataset that contains surface normals and curvatures
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*/
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void
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computeFeature (PointCloudOut &output) override;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/normal_3d_omp.hpp>
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#endif
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