Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_FPFH_OMP_H_ 00042 #define PCL_FPFH_OMP_H_ 00043 00044 #include <pcl/features/feature.h> 00045 #include <pcl/features/fpfh.h> 00046 00047 namespace pcl 00048 { 00049 /** \brief FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud 00050 * dataset containing points and normals, in parallel, using the OpenMP standard. 00051 * 00052 * \note If you use this code in any academic work, please cite: 00053 * 00054 * - R.B. Rusu, N. Blodow, M. Beetz. 00055 * Fast Point Feature Histograms (FPFH) for 3D Registration. 00056 * In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 00057 * Kobe, Japan, May 12-17 2009. 00058 * - R.B. Rusu, A. Holzbach, N. Blodow, M. Beetz. 00059 * Fast Geometric Point Labeling using Conditional Random Fields. 00060 * In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 00061 * St. Louis, MO, USA, October 11-15 2009. 00062 * 00063 * \attention 00064 * The convention for FPFH features is: 00065 * - if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN 00066 * (not a number) 00067 * - it is impossible to estimate a FPFH descriptor for a point that 00068 * doesn't have finite 3D coordinates. Therefore, any point that contains 00069 * NaN data on x, y, or z, will have its FPFH feature property set to NaN. 00070 * 00071 * \author Radu B. Rusu 00072 * \ingroup features 00073 */ 00074 template <typename PointInT, typename PointNT, typename PointOutT> 00075 class FPFHEstimationOMP : public FPFHEstimation<PointInT, PointNT, PointOutT> 00076 { 00077 public: 00078 typedef boost::shared_ptr<FPFHEstimationOMP<PointInT, PointNT, PointOutT> > Ptr; 00079 typedef boost::shared_ptr<const FPFHEstimationOMP<PointInT, PointNT, PointOutT> > ConstPtr; 00080 using Feature<PointInT, PointOutT>::feature_name_; 00081 using Feature<PointInT, PointOutT>::getClassName; 00082 using Feature<PointInT, PointOutT>::indices_; 00083 using Feature<PointInT, PointOutT>::k_; 00084 using Feature<PointInT, PointOutT>::search_parameter_; 00085 using Feature<PointInT, PointOutT>::input_; 00086 using Feature<PointInT, PointOutT>::surface_; 00087 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00088 using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f1_; 00089 using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f2_; 00090 using FPFHEstimation<PointInT, PointNT, PointOutT>::hist_f3_; 00091 using FPFHEstimation<PointInT, PointNT, PointOutT>::weightPointSPFHSignature; 00092 00093 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00094 00095 /** \brief Initialize the scheduler and set the number of threads to use. 00096 * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic) 00097 */ 00098 FPFHEstimationOMP (unsigned int nr_threads = 0) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), threads_ (nr_threads) 00099 { 00100 feature_name_ = "FPFHEstimationOMP"; 00101 } 00102 00103 /** \brief Initialize the scheduler and set the number of threads to use. 00104 * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic) 00105 */ 00106 inline void 00107 setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; } 00108 00109 private: 00110 /** \brief Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by 00111 * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in 00112 * setSearchMethod () 00113 * \param[out] output the resultant point cloud model dataset that contains the FPFH feature estimates 00114 */ 00115 void 00116 computeFeature (PointCloudOut &output); 00117 00118 public: 00119 /** \brief The number of subdivisions for each angular feature interval. */ 00120 int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_; 00121 private: 00122 /** \brief The number of threads the scheduler should use. */ 00123 unsigned int threads_; 00124 }; 00125 } 00126 00127 #ifdef PCL_NO_PRECOMPILE 00128 #include <pcl/features/impl/fpfh_omp.hpp> 00129 #endif 00130 00131 #endif //#ifndef PCL_FPFH_OMP_H_