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include
pcl
features
normal_3d_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) 2010-2011, 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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* $Id$
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*/
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#ifndef PCL_NORMAL_3D_OMP_H_
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#define PCL_NORMAL_3D_OMP_H_
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#include <pcl/features/normal_3d.h>
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namespace
pcl
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{
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/** \brief NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
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* curvatures, in parallel, using the OpenMP standard.
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* \author Radu Bogdan Rusu
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* \ingroup features
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*/
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template
<
typename
Po
int
InT,
typename
Po
int
OutT>
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class
NormalEstimationOMP
:
public
NormalEstimation
<PointInT, PointOutT>
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{
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public
:
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typedef
boost::shared_ptr<NormalEstimationOMP<PointInT, PointOutT> >
Ptr
;
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typedef
boost::shared_ptr<const NormalEstimationOMP<PointInT, PointOutT> >
ConstPtr
;
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using
NormalEstimation<PointInT, PointOutT>::feature_name_
;
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using
NormalEstimation<PointInT, PointOutT>::getClassName
;
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using
NormalEstimation<PointInT, PointOutT>::indices_
;
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using
NormalEstimation<PointInT, PointOutT>::input_
;
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using
NormalEstimation<PointInT, PointOutT>::k_
;
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using
NormalEstimation<PointInT, PointOutT>::vpx_
;
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using
NormalEstimation<PointInT, PointOutT>::vpy_
;
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using
NormalEstimation<PointInT, PointOutT>::vpz_
;
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using
NormalEstimation<PointInT, PointOutT>::search_parameter_
;
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using
NormalEstimation<PointInT, PointOutT>::surface_
;
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using
NormalEstimation<PointInT, PointOutT>::getViewPoint
;
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typedef
typename
NormalEstimation<PointInT, PointOutT>::PointCloudOut
PointCloudOut
;
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public
:
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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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NormalEstimationOMP
(
unsigned
int
nr_threads = 0) :
threads_
(nr_threads)
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{
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feature_name_
=
"NormalEstimationOMP"
;
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}
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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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/** \brief The number of threads the scheduler should use. */
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unsigned
int
threads_
;
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private
:
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/** \brief Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in
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* setSearchSurface () and the spatial locator in setSearchMethod ()
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* \param output the resultant point cloud model dataset that contains surface normals and curvatures
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*/
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void
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computeFeature (
PointCloudOut
&output);
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/normal_3d_omp.hpp>
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#endif
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#endif //#ifndef PCL_NORMAL_3D_OMP_H_