Point Cloud Library (PCL)
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include
pcl
features
shot_lrf_omp.h
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/*
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* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, 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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* 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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* * Redistributions of source code must retain the above copyright
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* $Id$
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*/
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#ifndef PCL_FEATURES_SHOT_LRF_OMP_H_
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#define PCL_FEATURES_SHOT_LRF_OMP_H_
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#include <pcl/point_types.h>
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#include <pcl/features/feature.h>
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#include <pcl/features/shot_lrf.h>
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namespace
pcl
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{
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/** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
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* of the (SHOT) descriptor.
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*
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* \note If you use this code in any academic work, please cite:
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*
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* - F. Tombari, S. Salti, L. Di Stefano
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* Unique Signatures of Histograms for Local Surface Description.
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* In Proceedings of the 11th European Conference on Computer Vision (ECCV),
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* Heraklion, Greece, September 5-11 2010.
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* - F. Tombari, S. Salti, L. Di Stefano
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* A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
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* In Proceedings of the 18th International Conference on Image Processing (ICIP),
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* Brussels, Belgium, September 11-14 2011.
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*
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* \author Samuele Salti, Federico Tombari
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* \ingroup features
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*/
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template
<
typename
Po
int
InT,
typename
Po
int
OutT = ReferenceFrame>
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class
SHOTLocalReferenceFrameEstimationOMP
:
public
SHOTLocalReferenceFrameEstimation
<PointInT, PointOutT>
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{
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public
:
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typedef
boost::shared_ptr<SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> >
Ptr
;
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typedef
boost::shared_ptr<const SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> >
ConstPtr
;
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/** \brief Constructor */
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SHOTLocalReferenceFrameEstimationOMP
() :
threads_
(0)
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{
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feature_name_
=
"SHOTLocalReferenceFrameEstimationOMP"
;
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}
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/** \brief Empty destructor */
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virtual
~SHOTLocalReferenceFrameEstimationOMP
() {}
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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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inline
void
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setNumberOfThreads
(
unsigned
int
nr_threads = 0) {
threads_
= nr_threads; }
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protected
:
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using
Feature<PointInT, PointOutT>::feature_name_
;
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using
Feature<PointInT, PointOutT>::getClassName
;
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//using Feature<PointInT, PointOutT>::searchForNeighbors;
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using
Feature<PointInT, PointOutT>::input_
;
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using
Feature<PointInT, PointOutT>::indices_
;
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using
Feature<PointInT, PointOutT>::surface_
;
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using
Feature<PointInT, PointOutT>::tree_
;
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using
Feature<PointInT, PointOutT>::search_parameter_
;
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using
SHOTLocalReferenceFrameEstimation<PointInT, PointOutT>::getLocalRF
;
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typedef
typename
Feature<PointInT, PointOutT>::PointCloudIn
PointCloudIn
;
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typedef
typename
Feature<PointInT, PointOutT>::PointCloudOut
PointCloudOut
;
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/** \brief Feature estimation method.
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* \param[out] output the resultant features
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*/
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virtual
void
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computeFeature
(
PointCloudOut
&output);
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/** \brief The number of threads the scheduler should use. */
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unsigned
int
threads_
;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/shot_lrf_omp.hpp>
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#endif
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#endif // PCL_FEATURES_SHOT_LRF_H_
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