Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/features/include/pcl/features/shot_lrf_omp.h
00001 /*
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00039 
00040 #ifndef PCL_FEATURES_SHOT_LRF_OMP_H_
00041 #define PCL_FEATURES_SHOT_LRF_OMP_H_
00042 
00043 #include <pcl/point_types.h>
00044 #include <pcl/features/feature.h>
00045 #include <pcl/features/shot_lrf.h>
00046 
00047 namespace pcl
00048 {
00049   /** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
00050     * of the (SHOT) descriptor.
00051     *
00052     * \note If you use this code in any academic work, please cite:
00053     *
00054     *   - F. Tombari, S. Salti, L. Di Stefano
00055     *     Unique Signatures of Histograms for Local Surface Description.
00056     *     In Proceedings of the 11th European Conference on Computer Vision (ECCV),
00057     *     Heraklion, Greece, September 5-11 2010.
00058     *   - F. Tombari, S. Salti, L. Di Stefano
00059     *     A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
00060     *     In Proceedings of the 18th International Conference on Image Processing (ICIP),
00061     *     Brussels, Belgium, September 11-14 2011.
00062     *
00063     * \author Samuele Salti, Federico Tombari
00064     * \ingroup features
00065     */
00066   template<typename PointInT, typename PointOutT = ReferenceFrame>
00067   class SHOTLocalReferenceFrameEstimationOMP : public SHOTLocalReferenceFrameEstimation<PointInT, PointOutT>
00068   {
00069     public:
00070       typedef boost::shared_ptr<SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> > Ptr;
00071       typedef boost::shared_ptr<const SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> > ConstPtr;
00072       /** \brief Constructor */
00073     SHOTLocalReferenceFrameEstimationOMP () : threads_ (0)
00074       {
00075         feature_name_ = "SHOTLocalReferenceFrameEstimationOMP";
00076       }
00077       
00078     /** \brief Empty destructor */
00079     virtual ~SHOTLocalReferenceFrameEstimationOMP () {}
00080 
00081     /** \brief Initialize the scheduler and set the number of threads to use.
00082      * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
00083      */
00084      inline void
00085      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
00086 
00087     protected:
00088       using Feature<PointInT, PointOutT>::feature_name_;
00089       using Feature<PointInT, PointOutT>::getClassName;
00090       //using Feature<PointInT, PointOutT>::searchForNeighbors;
00091       using Feature<PointInT, PointOutT>::input_;
00092       using Feature<PointInT, PointOutT>::indices_;
00093       using Feature<PointInT, PointOutT>::surface_;
00094       using Feature<PointInT, PointOutT>::tree_;
00095       using Feature<PointInT, PointOutT>::search_parameter_;
00096       using SHOTLocalReferenceFrameEstimation<PointInT, PointOutT>::getLocalRF;
00097       typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
00098       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00099 
00100       /** \brief Feature estimation method.
00101         * \param[out] output the resultant features
00102         */
00103       virtual void
00104       computeFeature (PointCloudOut &output);
00105 
00106       /** \brief The number of threads the scheduler should use. */
00107       unsigned int threads_;
00108 
00109   };
00110 }
00111 
00112 #ifdef PCL_NO_PRECOMPILE
00113 #include <pcl/features/impl/shot_lrf_omp.hpp>
00114 #endif
00115 
00116 #endif    // PCL_FEATURES_SHOT_LRF_H_
00117