Point Cloud Library (PCL) 1.13.1
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normal_3d_omp.h
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40
41#pragma once
42
43#include <pcl/features/normal_3d.h>
44
45namespace pcl
46{
47 /** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
48 * curvatures, in parallel, using the OpenMP standard.
49 * \author Radu Bogdan Rusu
50 * \ingroup features
51 */
52 template <typename PointInT, typename PointOutT>
53 class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT>
54 {
55 public:
56 using Ptr = shared_ptr<NormalEstimationOMP<PointInT, PointOutT> >;
57 using ConstPtr = shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> >;
58 using NormalEstimation<PointInT, PointOutT>::feature_name_;
59 using NormalEstimation<PointInT, PointOutT>::getClassName;
60 using NormalEstimation<PointInT, PointOutT>::indices_;
61 using NormalEstimation<PointInT, PointOutT>::input_;
62 using NormalEstimation<PointInT, PointOutT>::k_;
63 using NormalEstimation<PointInT, PointOutT>::vpx_;
64 using NormalEstimation<PointInT, PointOutT>::vpy_;
65 using NormalEstimation<PointInT, PointOutT>::vpz_;
66 using NormalEstimation<PointInT, PointOutT>::search_parameter_;
67 using NormalEstimation<PointInT, PointOutT>::surface_;
68 using NormalEstimation<PointInT, PointOutT>::getViewPoint;
69
71
72 public:
73 /** \brief Initialize the scheduler and set the number of threads to use.
74 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
75 */
76 NormalEstimationOMP (unsigned int nr_threads = 0)
77 {
78 feature_name_ = "NormalEstimationOMP";
79
80 setNumberOfThreads(nr_threads);
81 }
82
83 /** \brief Initialize the scheduler and set the number of threads to use.
84 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
85 */
86 void
87 setNumberOfThreads (unsigned int nr_threads = 0);
88
89 protected:
90 /** \brief The number of threads the scheduler should use. */
91 unsigned int threads_;
92
93 private:
94 /** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in
95 * setSearchSurface () and the spatial locator in setSearchMethod ()
96 * \param output the resultant point cloud model dataset that contains surface normals and curvatures
97 */
98 void
99 computeFeature (PointCloudOut &output) override;
100 };
101}
102
103#ifdef PCL_NO_PRECOMPILE
104#include <pcl/features/impl/normal_3d_omp.hpp>
105#endif
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:234
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
int k_
The number of K nearest neighbors to use for each point.
Definition feature.h:240
std::string feature_name_
The feature name.
Definition feature.h:220
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:228
NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point.
Definition normal_3d.h:244
float vpx_
Values describing the viewpoint ("pinhole" camera model assumed).
Definition normal_3d.h:406
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition normal_3d.h:257
void getViewPoint(float &vpx, float &vpy, float &vpz)
Get the viewpoint.
Definition normal_3d.h:366
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and ...
typename NormalEstimation< PointInT, PointOutT >::PointCloudOut PointCloudOut
shared_ptr< const NormalEstimationOMP< PointInT, PointOutT > > ConstPtr
unsigned int threads_
The number of threads the scheduler should use.
NormalEstimationOMP(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
shared_ptr< NormalEstimationOMP< PointInT, PointOutT > > Ptr
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150