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) 2010-2011, 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_NORMAL_3D_OMP_H_ 00042 #define PCL_NORMAL_3D_OMP_H_ 00043 00044 #include <pcl/features/normal_3d.h> 00045 00046 namespace pcl 00047 { 00048 /** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and 00049 * curvatures, in parallel, using the OpenMP standard. 00050 * \author Radu Bogdan Rusu 00051 * \ingroup features 00052 */ 00053 template <typename PointInT, typename PointOutT> 00054 class NormalEstimationOMP: public NormalEstimation<PointInT, PointOutT> 00055 { 00056 public: 00057 typedef boost::shared_ptr<NormalEstimationOMP<PointInT, PointOutT> > Ptr; 00058 typedef boost::shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> > ConstPtr; 00059 using NormalEstimation<PointInT, PointOutT>::feature_name_; 00060 using NormalEstimation<PointInT, PointOutT>::getClassName; 00061 using NormalEstimation<PointInT, PointOutT>::indices_; 00062 using NormalEstimation<PointInT, PointOutT>::input_; 00063 using NormalEstimation<PointInT, PointOutT>::k_; 00064 using NormalEstimation<PointInT, PointOutT>::vpx_; 00065 using NormalEstimation<PointInT, PointOutT>::vpy_; 00066 using NormalEstimation<PointInT, PointOutT>::vpz_; 00067 using NormalEstimation<PointInT, PointOutT>::search_parameter_; 00068 using NormalEstimation<PointInT, PointOutT>::surface_; 00069 using NormalEstimation<PointInT, PointOutT>::getViewPoint; 00070 00071 typedef typename NormalEstimation<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00072 00073 public: 00074 /** \brief Initialize the scheduler and set the number of threads to use. 00075 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic) 00076 */ 00077 NormalEstimationOMP (unsigned int nr_threads = 0) : threads_ (nr_threads) 00078 { 00079 feature_name_ = "NormalEstimationOMP"; 00080 } 00081 00082 /** \brief Initialize the scheduler and set the number of threads to use. 00083 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic) 00084 */ 00085 inline void 00086 setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; } 00087 00088 protected: 00089 /** \brief The number of threads the scheduler should use. */ 00090 unsigned int threads_; 00091 00092 private: 00093 /** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in 00094 * setSearchSurface () and the spatial locator in setSearchMethod () 00095 * \param output the resultant point cloud model dataset that contains surface normals and curvatures 00096 */ 00097 void 00098 computeFeature (PointCloudOut &output); 00099 }; 00100 } 00101 00102 #ifdef PCL_NO_PRECOMPILE 00103 #include <pcl/features/impl/normal_3d_omp.hpp> 00104 #endif 00105 00106 #endif //#ifndef PCL_NORMAL_3D_OMP_H_